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annotate trafficintelligence/prediction.py @ 1214:01c24c1cdb70

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implemented direct method
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 04 May 2023 22:30:32 -0400
parents af329f3330ba
children 1b472cddf9b1
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1 #! /usr/bin/env python
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2 '''Library for motion prediction methods'''
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3
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4 import math, random
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5 from copy import copy
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6
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7 import numpy as np
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8
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9 from trafficintelligence import moving
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10 from trafficintelligence.utils import LCSS
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11
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12 class PredictedTrajectory(object):
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13 '''Class for predicted trajectories with lazy evaluation
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14 if the predicted position has not been already computed, compute it
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16 it should also have a probability'''
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17
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18 def __init__(self):
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19 self.probability = 0.
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20 self.predictedPositions = {}
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21 self.predictedSpeedOrientations = {}
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22 #self.collisionPoints = {}
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23 #self.crossingZones = {}
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24
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25 def predictPosition(self, nTimeSteps):
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26 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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27 self.predictPosition(nTimeSteps-1)
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28 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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29 return self.predictedPositions[nTimeSteps]
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30
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31 def getPredictedTrajectory(self):
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32 return moving.Trajectory.fromPointList(list(self.predictedPositions.values()))
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33
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34 def getPredictedSpeeds(self):
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35 return [so.norm for so in self.predictedSpeedOrientations.values()]
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36
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37 def hasCollisionWith(self, other, t, collisionDistanceThreshold):
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38 p1 = self.predictPosition(t)
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39 p2 = other.predictPosition(t)
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40 return (p1-p2).norm2() <= collisionDistanceThreshold, p1, p2
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41
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42 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
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43 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
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44
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45 class PredictedTrajectoryConstant(PredictedTrajectory):
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46 '''Predicted trajectory at constant speed or acceleration
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47 TODO generalize by passing a series of velocities/accelerations'''
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48
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49 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
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50 self.control = control
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51 self.maxSpeed = maxSpeed
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52 self.probability = probability
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53 self.predictedPositions = {0: initialPosition}
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54 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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55
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56 def getControl(self):
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57 return self.control
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58
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59 class PredictedTrajectoryConstantVelocity(PredictedTrajectory):
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60 '''Predicted trajectory at constant speed or acceleration
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61 TODO generalize by passing a series of velocities/accelerations'''
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62
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63 def __init__(self, initialPosition, initialVelocity, probability = 1.):
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64 self.probability = probability
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65 self.predictedPositions = {0: initialPosition}
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66 self.initialVelocity = initialVelocity
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67 #self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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68
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69 def predictPosition(self, nTimeSteps):
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70 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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71 self.predictPosition(nTimeSteps-1)
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72 self.predictedPositions[nTimeSteps] = self.predictedPositions[nTimeSteps-1]+self.initialVelocity
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73 return self.predictedPositions[nTimeSteps]
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74
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75 class PredictedPolyTrajectoryConstantVelocity(PredictedTrajectory):
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76 '''Predicted trajectory of an object with an outline represented by a polygon
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77 Simple method that just translates the polygon corners (set of moving.Point)'''
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78 def __init__(self, polyCorners, initialVelocity, probability = 1.):
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79 self.probability = probability
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80 self.predictedPositions = {0: moving.pointsToShapely(polyCorners)}
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81 self.initialVelocity = initialVelocity
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82 self.predictedTrajectories = [PredictedTrajectoryConstantVelocity(p, initialVelocity) for p in polyCorners]
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83
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84 def predictPosition(self, nTimeSteps):
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85 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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86 self.predictedPositions[nTimeSteps] = moving.pointsToShapely([t.predictPosition(nTimeSteps) for t in self.predictedTrajectories])
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87 return self.predictedPositions[nTimeSteps]
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88
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89 def hasCollisionWith(self, other, t, collisionDistanceThreshold):
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90 poly1 = self.predictPosition(t)
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91 poly2 = other.predictPosition(t)
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92 return poly1.overlaps(poly2), poly1, poly2
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93
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94 class PredictedTrajectoryPrototype(PredictedTrajectory):
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95 '''Predicted trajectory that follows a prototype trajectory
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96 The prototype is in the format of a moving.Trajectory: it could be
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97 1. an observed trajectory (extracted from video)
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98 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
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99
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100 Prediction can be done
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101 1. at constant speed (the instantaneous user speed)
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102 2. following the trajectory path, at the speed of the user
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103 (applying a constant ratio equal
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104 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
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105
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106 def __init__(self, initialPosition, initialVelocity, prototype, constantSpeed = False, nFramesIgnore = 3, probability = 1.):
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107 ''' prototype is a MovingObject
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108
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109 Prediction at constant speed will not work for unrealistic trajectories
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110 that do not follow a slowly changing velocity (eg moving object trajectories,
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111 but is good for realistic motion (eg features)'''
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112 self.valid = True
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113 self.prototype = prototype
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114 self.constantSpeed = constantSpeed
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115 self.nFramesIgnore = nFramesIgnore
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116 self.probability = probability
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117 self.predictedPositions = {0: initialPosition}
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118 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
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119 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position
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120 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle()
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121 self.initialSpeed = initialVelocity.norm2()
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122 if not constantSpeed:
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123 while prototype.getVelocityAt(self.closestPointIdx).norm2() == 0. and self.closestPointIdx < prototype.length():
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124 self.closestPointIdx += 1
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125 if self.closestPointIdx < prototype.length():
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126 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
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127 else:
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diff changeset
128 self.valid = False
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129
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diff changeset
130 def predictPosition(self, nTimeSteps):
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diff changeset
131 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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diff changeset
132 deltaPosition = copy(self.deltaPosition)
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133 if self.constantSpeed:
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134 traj = self.prototype.getPositions()
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135 trajLength = traj.length()
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diff changeset
136 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
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diff changeset
137 i = self.closestPointIdx
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diff changeset
138 while i < trajLength and traj.getCumulativeDistance(i) < traveledDistance:
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139 i += 1
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diff changeset
140 if i == trajLength:
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diff changeset
141 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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diff changeset
142 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
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diff changeset
143 else:
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144 v = self.prototype.getVelocityAt(min(i-1, int(self.prototype.length())-1-self.nFramesIgnore))
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145 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+(traj[i]-traj[i-1])*((traveledDistance-traj.getCumulativeDistance(i-1))/traj.getDistance(i-1))
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diff changeset
146 else:
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diff changeset
147 traj = self.prototype.getPositions()
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148 trajLength = traj.length()
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diff changeset
149 nSteps = self.ratio*nTimeSteps+self.closestPointIdx
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150 i = int(np.floor(nSteps))
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diff changeset
151 if nSteps < trajLength-1:
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diff changeset
152 v = self.prototype.getVelocityAt(min(i, int(self.prototype.length())-1-self.nFramesIgnore))
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153 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i]+(traj[i+1]-traj[i])*(nSteps-i)
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154 else:
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diff changeset
155 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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diff changeset
156 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[-1]+v*(nSteps-trajLength+1)
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diff changeset
157 return self.predictedPositions[nTimeSteps]
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diff changeset
158
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diff changeset
159 class PredictedTrajectoryRandomControl(PredictedTrajectory):
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parents: 464
diff changeset
160 '''Random vehicle control: suitable for normal adaptation'''
336
124f85c6cfae modifed default probability to float
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diff changeset
161 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
256
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diff changeset
162 '''Constructor
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diff changeset
163 accelerationDistribution and steeringDistribution are distributions
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diff changeset
164 that return random numbers drawn from them'''
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diff changeset
165 self.accelerationDistribution = accelerationDistribution
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diff changeset
166 self.steeringDistribution = steeringDistribution
250
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diff changeset
167 self.maxSpeed = maxSpeed
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diff changeset
168 self.probability = probability
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diff changeset
169 self.predictedPositions = {0: initialPosition}
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parents: 245
diff changeset
170 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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parents: 245
diff changeset
171
256
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diff changeset
172 def getControl(self):
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parents: 255
diff changeset
173 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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diff changeset
174
359
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diff changeset
175 class SafetyPoint(moving.Point):
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diff changeset
176 '''Can represent a collision point or crossing zone
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diff changeset
177 with respective safety indicator, TTC or pPET'''
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diff changeset
178 def __init__(self, p, probability = 1., indicator = -1):
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diff changeset
179 self.x = p.x
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diff changeset
180 self.y = p.y
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diff changeset
181 self.probability = probability
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diff changeset
182 self.indicator = indicator
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183
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diff changeset
184 def __str__(self):
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diff changeset
185 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
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diff changeset
186
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diff changeset
187 @staticmethod
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diff changeset
188 def save(out, points, predictionInstant, objNum1, objNum2):
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diff changeset
189 for p in points:
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diff changeset
190 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
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diff changeset
191
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diff changeset
192 @staticmethod
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diff changeset
193 def computeExpectedIndicator(points):
696
ae137e3b1990 minor correction
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parents: 692
diff changeset
194 return np.sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
359
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diff changeset
195
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
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parents: 357
diff changeset
196 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
662
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197 '''Computes the first instant
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diff changeset
198 at which two predicted trajectories are colliding (depending on the trajectory format)
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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diff changeset
199 Computes all the times including timeHorizon
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diff changeset
200
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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diff changeset
201 User has to check the first variable collision to know about a collision'''
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
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diff changeset
202 t = 1
1211
a095d4fbb2ea work in progress
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diff changeset
203 collision, p1, p2 = predictedTrajectory1.hasCollisionWith(predictedTrajectory2, t, collisionDistanceThreshold)
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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parents: 661
diff changeset
204 while t < timeHorizon and not collision:
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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parents: 661
diff changeset
205 t += 1
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a095d4fbb2ea work in progress
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diff changeset
206 collision, p1, p2 = predictedTrajectory1.hasCollisionWith(predictedTrajectory2, t, collisionDistanceThreshold)
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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parents: 661
diff changeset
207 return collision, t, p1, p2
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
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parents: 357
diff changeset
208
944
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parents: 943
diff changeset
209 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon, printFigure = True):
943
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parents: 942
diff changeset
210 from matplotlib.pyplot import figure, axis, title, clf, savefig
944
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diff changeset
211 if printFigure:
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diff changeset
212 clf()
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diff changeset
213 else:
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diff changeset
214 figure()
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
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parents: 556
diff changeset
215 for et in predictedTrajectories1:
998
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diff changeset
216 for t in range(int(np.round(timeHorizon))):
944
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diff changeset
217 et.predictPosition(t)
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diff changeset
218 et.plot('rx')
557
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
219 for et in predictedTrajectories2:
998
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parents: 987
diff changeset
220 for t in range(int(np.round(timeHorizon))):
944
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diff changeset
221 et.predictPosition(t)
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diff changeset
222 et.plot('bx')
943
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diff changeset
223 obj1.plot('r', withOrigin = True)
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parents: 942
diff changeset
224 obj2.plot('b', withOrigin = True)
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
225 title('instant {0}'.format(currentInstant))
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parents: 556
diff changeset
226 axis('equal')
944
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diff changeset
227 if printFigure:
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parents: 943
diff changeset
228 savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
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parents: 556
diff changeset
229
613
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MohamedGomaa
parents: 611
diff changeset
230 def calculateProbability(nMatching,similarity,objects):
998
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parents: 987
diff changeset
231 sumFrequencies=sum([nMatching[p] for p in similarity])
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
232 prototypeProbability={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
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parents: 987
diff changeset
233 for i in similarity:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
234 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
235 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability])
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dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
236 probabilities={}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
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parents: 987
diff changeset
237 for i in prototypeProbability:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
238 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
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parents: 613
diff changeset
239 return probabilities
613
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MohamedGomaa
parents: 611
diff changeset
240
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
241 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
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242 ''' behaviour prediction first step'''
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243 if route[0] not in noiseEntryNums:
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244 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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245 elif route[1] not in noiseExitNums:
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246 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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247 else:
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248 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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249 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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250 similarity={}
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251 for y in prototypesRoutes:
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252 if y in prototypes:
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253 prototypesIDs=prototypes[y]
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254 for x in prototypesIDs:
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255 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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256 if s >= minSimilarity:
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257 similarity[x]=s
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258
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259 if mostMatched==None:
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260 probabilities= calculateProbability(nMatching,similarity,objects)
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261 return probabilities
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262 else:
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263 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
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264 keys=[k for k in similarity if similarity[k] in mostMatchedValues]
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265 newSimilarity={}
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266 for i in keys:
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267 newSimilarity[i]=similarity[i]
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268 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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269 return probabilities
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270
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271 def findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,spatialThreshold=1.0, delta=180):
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272 if useDestination:
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273 prototypesRoutes=[route]
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274 else:
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275 if route[0] not in noiseEntryNums:
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276 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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277 elif route[1] not in noiseExitNums:
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278 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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279 else:
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280 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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281 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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282 similarity={}
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283 for y in prototypesRoutes:
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284 if y in prototypes:
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285 prototypesIDs=prototypes[y]
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286 for x in prototypesIDs:
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287 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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288 if s >= minSimilarity:
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289 similarity[x]=s
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290
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291 newSimilarity={}
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292 for i in similarity:
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293 if i in secondStepPrototypes:
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294 for j in secondStepPrototypes[i]:
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295 newSimilarity[j]=similarity[i]
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296 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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297 return probabilities
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298
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299 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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300 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
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301 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
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302 if useSpeedPrototype:
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303 prototypeTrajectories=findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
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diff changeset
304 else:
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diff changeset
305 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
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diff changeset
306 return prototypeTrajectories
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diff changeset
307
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
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diff changeset
308
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diff changeset
309 class PredictionParameters(object):
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310 def __init__(self, name, maxSpeed = None, useCurvilinear = False):
257
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diff changeset
311 self.name = name
266
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312 self.maxSpeed = maxSpeed
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313 self.useCurvilinear = useCurvilinear
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314
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diff changeset
315 def __str__(self):
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diff changeset
316 return '{0} {1}'.format(self.name, self.maxSpeed)
257
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diff changeset
317
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
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diff changeset
318 def generatePredictedTrajectories(self, obj, instant):
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319 return None
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320
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321 def computeCollisionPoint(self, p1, p2, probability, t):
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322 return SafetyPoint((p1+p2)*0.5, probability, t)
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323
987
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diff changeset
324 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
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325 '''returns the lists of collision points and crossing zones'''
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diff changeset
326 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, currentInstant)
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diff changeset
327 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, currentInstant)
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diff changeset
328
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329 collisionPoints = []
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330 if computeCZ:
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331 crossingZones = []
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diff changeset
332 else:
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diff changeset
333 crossingZones = None
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diff changeset
334 for et1 in predictedTrajectories1:
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diff changeset
335 for et2 in predictedTrajectories2:
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diff changeset
336 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
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diff changeset
337 if collision:
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diff changeset
338 collisionPoints.append(self.computeCollisionPoint(p1, p2, et1.probability*et2.probability, t))
987
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diff changeset
339 elif computeCZ: # check if there is a crossing zone
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diff changeset
340 # TODO same computation as PET with metric + concatenate past trajectory with future trajectory
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diff changeset
341 cz = None
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diff changeset
342 t1 = 0
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diff changeset
343 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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diff changeset
344 t2 = 0
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diff changeset
345 while not cz and t2 < timeHorizon:
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diff changeset
346 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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parents: 985
diff changeset
347 if cz is not None:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
348 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
349 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
350 t2 += 1
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
351 t1 += 1
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
352
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
353 if debug:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
354 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
355
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
356 return collisionPoints, crossingZones
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
357
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
358 def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):#, nProcesses = 1):
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
359 '''Computes all crossing and collision points at each common instant for two road users. '''
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
360 collisionPoints = {}
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
361 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
362 crossingZones = {}
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
363 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
364 crossingZones = None
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
365 if timeInterval is not None:
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
366 commonTimeInterval = timeInterval
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
367 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
368 commonTimeInterval = obj1.commonTimeInterval(obj2)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
369 #if nProcesses == 1:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
370 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
371 cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug)
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
372 if len(cp) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
373 collisionPoints[i] = cp
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
374 if computeCZ and len(cz) != 0:
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
375 crossingZones[i] = cz
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
376 return collisionPoints, crossingZones
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
377
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
378 def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
379 '''Computes only collision probabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
380 Returns for each instant the collision probability and number of samples drawn'''
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
381 collisionProbabilities = {}
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
382 if timeInterval is not None:
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
383 commonTimeInterval = timeInterval
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
384 else:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
385 commonTimeInterval = obj1.commonTimeInterval(obj2)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
386 for i in list(commonTimeInterval)[:-1]:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
387 nCollisions = 0
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
388 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
389 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
390 for et1 in predictedTrajectories1:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
391 for et2 in predictedTrajectories2:
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
392 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
393 if collision:
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
394 nCollisions += 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
395 # take into account probabilities ??
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
396 nSamples = float(len(predictedTrajectories1)*len(predictedTrajectories2))
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
397 collisionProbabilities[i] = [nSamples, float(nCollisions)/nSamples]
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
398
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
399 if debug:
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
400 savePredictedTrajectoriesFigure(i, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
401
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
402 return collisionProbabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
403
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
404 class ConstantPredictionParameters(PredictionParameters):
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
405 def __init__(self):
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
406 PredictionParameters.__init__(self, 'constant velocity')
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
407
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
408 def generatePredictedTrajectories(self, obj, instant):
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
409 return [PredictedTrajectoryConstantVelocity(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant))]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
410
1212
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
411 class ConstantPolyPredictionParameters(PredictionParameters):
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
412 def __init__(self):
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
413 PredictionParameters.__init__(self, 'constant velocity for polygon representation')
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
414
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
415 def generatePredictedTrajectories(self, obj, instant):
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
416 return [PredictedPolyTrajectoryConstantVelocity(obj.getBoundingPolygon(instant), obj.getVelocityAtInstant(instant))]
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
417
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
418 def computeCollisionPoint(self, p1, p2, probability, t):
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
419 polyRepr1 = p1.representative_point()
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
420 polyRepr2 = p2.representative_point()
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
421 p = moving.Point(polyRepr1.x+polyRepr2.x, polyRepr1.y+polyRepr2.y)
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
422 return SafetyPoint(p, probability, t)
af329f3330ba work in progress on 3D safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1211
diff changeset
423
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
424 class NormalAdaptationPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
425 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
426 '''An example of acceleration and steering distributions is
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
427 lambda: random.triangular(-self.maxAcceleration, self.maxAcceleration, 0.)
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
428 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
429 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
430 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
431 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
432 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
433 PredictionParameters.__init__(self, name, maxSpeed)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
434 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
435 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
436 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
437 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
438
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
439 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
440 return PredictionParameters.__str__(self)+' {0} {1} {2}'.format(self.nPredictedTrajectories,
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
441 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
442 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
443
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
444 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
445 predictedTrajectories = []
860
07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu>
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 826
diff changeset
446 if self.useFeatures and obj.hasFeatures():
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
447 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
448 positions = [f.getPositionAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
449 velocities = [f.getVelocityAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
450 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
451 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
452 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
453 probability = 1./float(len(positions)*self.nPredictedTrajectories)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
454 for i in range(self.nPredictedTrajectories):
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
455 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
456 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
457 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
458 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
459 self.steeringDistribution,
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
460 probability,
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
461 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
462 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
463
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
464 class PointSetPredictionParameters(PredictionParameters):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
465 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
466 PredictionParameters.__init__(self, 'point set', maxSpeed)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
467
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
468 def generatePredictedTrajectories(self, obj, instant):
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
469 predictedTrajectories = []
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
470 if obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
471 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
472 positions = [f.getPositionAtInstant(instant) for f in features]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
473 velocities = [f.getVelocityAtInstant(instant) for f in features]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
474 probability = 1./float(len(positions))
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
475 for initialPosition,initialVelocity in zip(positions, velocities):
1211
a095d4fbb2ea work in progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1210
diff changeset
476 predictedTrajectories.append(PredictedTrajectoryConstantVelocity(initialPosition, initialVelocity, probability = probability))
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
477 return predictedTrajectories
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
478 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
479 print('Object {} has no features'.format(obj.getNum()))
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
480 return None
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
481
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
482 class EvasiveActionPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
483 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
484 '''Suggested acceleration distribution may not be symmetric, eg
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
485 lambda: random.triangular(self.minAcceleration, self.maxAcceleration, 0.)'''
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
486
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
487 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
488 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
489 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
490 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
491 PredictionParameters.__init__(self, name, maxSpeed)
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
492 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
493 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
494 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
495 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
496
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
497 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
498 return PredictionParameters.__str__(self)+' {0} {1} {2} {3}'.format(self.nPredictedTrajectories, self.minAcceleration, self.maxAcceleration, self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
499
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
500 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
501 predictedTrajectories = []
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
502 if self.useFeatures and obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
503 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
504 positions = [f.getPositionAtInstant(instant) for f in features]
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
505 velocities = [f.getVelocityAtInstant(instant) for f in features]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
506 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
507 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
508 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
509 probability = 1./float(self.nPredictedTrajectories)
998
933670761a57 updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 987
diff changeset
510 for i in range(self.nPredictedTrajectories):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
511 for initialPosition,initialVelocity in zip(positions, velocities):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
512 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
513 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
514 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
515 self.steeringDistribution()),
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
516 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
517 self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
518 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
519
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
520 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
521 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
522 using direct computation of the intersecting point
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
523 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
524
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
525 def __init__(self):
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
526 PredictionParameters.__init__(self, 'constant velocity (direct computation)', None)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
527
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
528 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
529 collisionPoints = []
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
530 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
531 crossingZones = []
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
532 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
533 crossingZones = None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
534
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
535 p1 = obj1.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
536 p2 = obj2.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
537 if (p1-p2).norm2() <= collisionDistanceThreshold:
985
668a85c963c3 work on processing and managing large video datasets
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 949
diff changeset
538 collisionPoints = [SafetyPoint((p1+p2)*0.5, 1., 0.)]
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
539 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
540 v1 = obj1.getVelocityAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
541 v2 = obj2.getVelocityAtInstant(currentInstant)
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
542 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
543
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
544 if intersection is not None:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
545 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
546 dp2 = intersection-p2
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
547 dot1 = moving.Point.dot(dp1, v1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
548 dot2 = moving.Point.dot(dp2, v2)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
549 if (computeCZ and (dot1 > 0 or dot2 > 0)) or (dot1 > 0 and dot2 > 0): # if the road users are moving towards the intersection or if computing pPET
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
550 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
551 dist2 = dp2.norm2()
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
552 s1 = math.copysign(v1.norm2(), dot1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
553 s2 = math.copysign(v2.norm2(), dot2)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
554 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
555 timeInterval1 = moving.TimeInterval(max(0,dist1-halfCollisionDistanceThreshold)/s1, (dist1+halfCollisionDistanceThreshold)/s1)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
556 timeInterval2 = moving.TimeInterval(max(0,dist2-halfCollisionDistanceThreshold)/s2, (dist2+halfCollisionDistanceThreshold)/s2)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
557 collisionTimeInterval = moving.TimeInterval.intersection(timeInterval1, timeInterval2)
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
558
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
559 if collisionTimeInterval.empty():
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
560 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
561 crossingZones = [SafetyPoint(intersection, 1., timeInterval1.distance(timeInterval2))]
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
562 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
563 collisionPoints = [SafetyPoint(intersection, 1., collisionTimeInterval.center())]
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
564
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
565 if debug and intersection is not None:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
566 from matplotlib.pyplot import plot, figure, axis, title
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
567 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
568 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r')
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
569 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b')
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
570 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
571 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
572 obj2.plot('b')
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
573 title('instant {0}'.format(currentInstant))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
574 axis('equal')
289
e56c34c1ebac refactored and commented functions (saving data is now outside of the computation functions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 271
diff changeset
575
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
576 return collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
577
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
578 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
579 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
580 using direct computation of the intersecting point (solving the equation)
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
581 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
582
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
583 def __init__(self, useCurvilinear = False):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
584 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None, useCurvilinear)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
585
701
4cc56ff82c3c corrected bug for prediction at constant velocity, exact computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 698
diff changeset
586 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
587 'TODO compute pPET'
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
588 collisionPoints = []
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
589 crossingZones = []
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
590
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
591 if self.useCurvilinear:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
592 pass # Lionel
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
593 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
594 p1 = obj1.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
595 p2 = obj2.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
596 v1 = obj1.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
597 v2 = obj2.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
598 #intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
599
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
600 if not moving.Point.parallel(v1, v2):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
601 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
602 if ttc is not None:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
603 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)]
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
604 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
605 pass # compute pPET
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
606 return collisionPoints, crossingZones
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
607
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
608 class CVExactPolyPredictionParameters(PredictionParameters):
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
609 '''Prediction parameters of prediction at constant velocity
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
610 for objects represented by boxes (bird eye view boxes)
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
611 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
612
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
613 def __init__(self):
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
614 PredictionParameters.__init__(self, 'constant velocity for polygon representation (direct exact)', None)
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
615
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
616 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
617 'TODO compute pPET'
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
618 collisionPoints = []
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
619 crossingZones = []
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
620
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
621 if self.useCurvilinear:
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
622 pass # Lionel
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
623 else:
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
624 poly1 = obj1.getBoundingPolygon(currentInstant)
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
625 poly2 = obj2.getBoundingPolygon(currentInstant)
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
626 v1 = obj1.getVelocityAtInstant(currentInstant)
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
627 v2 = obj2.getVelocityAtInstant(currentInstant)
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
628
1214
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
629 if not moving.Point.parallel(v1, v2):
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
630 ttc = moving.Point.timeToCollisionPoly(poly1, v1, poly2, v2)
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
631 if ttc is not None:
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
632 collisionPoints = [SafetyPoint((obj1.getPositionAtInstant(currentInstant)+(v1*ttc)+obj2.getPositionAtInstant(currentInstant)+(v2*ttc))*0.5, 1., ttc)]
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
633 else:
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
634 pass # compute pPET
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
635 return collisionPoints, crossingZones
01c24c1cdb70 implemented direct method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1212
diff changeset
636
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
637
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
638 class PrototypePredictionParameters(PredictionParameters):
944
84ebe1b031f1 works with object trajectory, features todo
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 943
diff changeset
639 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True):
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
640 PredictionParameters.__init__(self, 'prototypes', None)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
641 self.prototypes = prototypes
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
642 self.nPredictedTrajectories = nPredictedTrajectories
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
643 self.lcss = LCSS(metric = lcssMetric, epsilon = pointSimilarityDistance)
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
644 self.minSimilarity = minSimilarity
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
645 self.minFeatureTime = minFeatureTime
619
dc2d0a0d7fe1 merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
646 self.constantSpeed = constantSpeed
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
647 self.useFeatures = useFeatures
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
648
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
649 def getLcss(self):
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
650 return self.lcss
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
651
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
652 def addPredictedTrajectories(self, predictedTrajectories, obj, instant):
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
653 obj.computeTrajectorySimilarities(self.prototypes, self.lcss)
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
654 for proto, similarities in zip(self.prototypes, obj.prototypeSimilarities):
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
655 if similarities[instant-obj.getFirstInstant()] >= self.minSimilarity:
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
656 initialPosition = obj.getPositionAtInstant(instant)
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
657 initialVelocity = obj.getVelocityAtInstant(instant)
1154
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
658 predictedTrajectory = PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings())
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
659 if predictedTrajectory.valid:
2795d0e114c9 deal with possibility of prototype with speed 0 that crashes motion prediction
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1104
diff changeset
660 predictedTrajectories.append(predictedTrajectory)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
661
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
662 def generatePredictedTrajectories(self, obj, instant):
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
663 predictedTrajectories = []
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
664 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime:
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
665 if self.useFeatures and obj.hasFeatures():
946
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
666 if not hasattr(obj, 'currentPredictionFeatures'):
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
667 obj.currentPredictionFeatures = []
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
668 else:
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
669 obj.currentPredictionFeatures[:] = [f for f in obj.currentPredictionFeatures if f.existsAtInstant(instant)]
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
670 firstInstants = [(f,f.getFirstInstant()) for f in obj.getFeatures() if f.existsAtInstant(instant) and f not in obj.currentPredictionFeatures]
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
671 firstInstants.sort(key = lambda t: t[1])
946
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
672 for f,t1 in firstInstants[:min(self.nPredictedTrajectories, len(firstInstants), self.nPredictedTrajectories-len(obj.currentPredictionFeatures))]:
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
673 obj.currentPredictionFeatures.append(f)
e5970606066f bug fix on list filtering (cannot remove while iterating) and motion prediction keeping the same features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 945
diff changeset
674 for f in obj.currentPredictionFeatures:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
675 self.addPredictedTrajectories(predictedTrajectories, f, instant)
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
676 else:
945
05d4302bf67e working motion pattern prediction with rotation and features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 944
diff changeset
677 self.addPredictedTrajectories(predictedTrajectories, obj, instant)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
678 return predictedTrajectories
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
679
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
680 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
681 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
682 import unittest
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
683 suite = doctest.DocFileSuite('tests/prediction.txt')
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
684 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
685 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
686 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
687 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
688