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annotate trafficintelligence/prediction.py @ 1210:1bad5f9b60de

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work in progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 28 Apr 2023 17:03:39 -0400
parents 2064e52019db
children a095d4fbb2ea
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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 plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
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38 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
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39
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40 class PredictedTrajectoryConstant(PredictedTrajectory):
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41 '''Predicted trajectory at constant speed or acceleration
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42 TODO generalize by passing a series of velocities/accelerations'''
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43
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44 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
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45 self.control = control
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46 self.maxSpeed = maxSpeed
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47 self.probability = probability
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48 self.predictedPositions = {0: initialPosition}
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49 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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50
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51 def getControl(self):
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52 return self.control
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53
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54 class PredictedTrajectoryPrototype(PredictedTrajectory):
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55 '''Predicted trajectory that follows a prototype trajectory
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56 The prototype is in the format of a moving.Trajectory: it could be
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57 1. an observed trajectory (extracted from video)
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58 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
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59
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60 Prediction can be done
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61 1. at constant speed (the instantaneous user speed)
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62 2. following the trajectory path, at the speed of the user
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63 (applying a constant ratio equal
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64 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
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65
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66 def __init__(self, initialPosition, initialVelocity, prototype, constantSpeed = False, nFramesIgnore = 3, probability = 1.):
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67 ''' prototype is a MovingObject
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68
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69 Prediction at constant speed will not work for unrealistic trajectories
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70 that do not follow a slowly changing velocity (eg moving object trajectories,
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71 but is good for realistic motion (eg features)'''
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72 self.valid = True
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73 self.prototype = prototype
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74 self.constantSpeed = constantSpeed
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75 self.nFramesIgnore = nFramesIgnore
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76 self.probability = probability
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77 self.predictedPositions = {0: initialPosition}
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78 self.closestPointIdx = prototype.getPositions().getClosestPoint(initialPosition)
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79 self.deltaPosition = initialPosition-prototype.getPositionAt(self.closestPointIdx) #should be computed in relative coordinates to position
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80 self.theta = prototype.getVelocityAt(self.closestPointIdx).angle()
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81 self.initialSpeed = initialVelocity.norm2()
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82 if not constantSpeed:
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83 while prototype.getVelocityAt(self.closestPointIdx).norm2() == 0. and self.closestPointIdx < prototype.length():
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84 self.closestPointIdx += 1
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85 if self.closestPointIdx < prototype.length():
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86 self.ratio = self.initialSpeed/prototype.getVelocityAt(self.closestPointIdx).norm2()
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87 else:
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88 self.valid = False
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89
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90 def predictPosition(self, nTimeSteps):
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91 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions:
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92 deltaPosition = copy(self.deltaPosition)
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93 if self.constantSpeed:
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94 traj = self.prototype.getPositions()
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95 trajLength = traj.length()
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96 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
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97 i = self.closestPointIdx
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98 while i < trajLength and traj.getCumulativeDistance(i) < traveledDistance:
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99 i += 1
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100 if i == trajLength:
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101 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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102 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
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103 else:
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104 v = self.prototype.getVelocityAt(min(i-1, int(self.prototype.length())-1-self.nFramesIgnore))
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105 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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106 else:
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107 traj = self.prototype.getPositions()
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108 trajLength = traj.length()
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109 nSteps = self.ratio*nTimeSteps+self.closestPointIdx
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110 i = int(np.floor(nSteps))
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111 if nSteps < trajLength-1:
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112 v = self.prototype.getVelocityAt(min(i, int(self.prototype.length())-1-self.nFramesIgnore))
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113 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[i]+(traj[i+1]-traj[i])*(nSteps-i)
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114 else:
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115 v = self.prototype.getVelocityAt(-1-self.nFramesIgnore)
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116 self.predictedPositions[nTimeSteps] = deltaPosition.rotate(v.angle()-self.theta)+traj[-1]+v*(nSteps-trajLength+1)
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117 return self.predictedPositions[nTimeSteps]
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118
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119 class PredictedTrajectoryRandomControl(PredictedTrajectory):
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120 '''Random vehicle control: suitable for normal adaptation'''
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121 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
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122 '''Constructor
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123 accelerationDistribution and steeringDistribution are distributions
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124 that return random numbers drawn from them'''
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125 self.accelerationDistribution = accelerationDistribution
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126 self.steeringDistribution = steeringDistribution
250
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127 self.maxSpeed = maxSpeed
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128 self.probability = probability
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129 self.predictedPositions = {0: initialPosition}
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130 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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131
256
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132 def getControl(self):
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133 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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134
359
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135 class SafetyPoint(moving.Point):
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136 '''Can represent a collision point or crossing zone
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137 with respective safety indicator, TTC or pPET'''
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138 def __init__(self, p, probability = 1., indicator = -1):
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139 self.x = p.x
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140 self.y = p.y
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141 self.probability = probability
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142 self.indicator = indicator
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143
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144 def __str__(self):
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145 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
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146
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147 @staticmethod
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148 def save(out, points, predictionInstant, objNum1, objNum2):
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149 for p in points:
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150 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
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151
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152 @staticmethod
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153 def computeExpectedIndicator(points):
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154 return np.sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
359
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155
358
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156 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
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157 '''Computes the first instant
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158 at which two predicted trajectories are within some distance threshold
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159 Computes all the times including timeHorizon
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160
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161 User has to check the first variable collision to know about a collision'''
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162 t = 1
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163 p1 = predictedTrajectory1.predictPosition(t)
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164 p2 = predictedTrajectory2.predictPosition(t)
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165 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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166 while t < timeHorizon and not collision:
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167 t += 1
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168 p1 = predictedTrajectory1.predictPosition(t)
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169 p2 = predictedTrajectory2.predictPosition(t)
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170 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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171 return collision, t, p1, p2
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172
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173 def computeCollisionTimePolygon(predictedTrajectories1, predictedTrajectories2, timeHorizon):
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174 '''Computes the first instant
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175 at which two objects represented by a series of points (eg box)
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176 Computes all the times including timeHorizon
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177
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178 User has to check the first variable collision to know about a collision'''
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179 t = 1
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180 poly1 = moving.pointsToShapely([t1.predictPosition(t) for t1 in predictedTrajectories1])
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181 poly2 = moving.pointsToShapely([t2.predictPosition(t) for t2 in predictedTrajectories2])
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182 collision = poly1.overlaps(poly2)
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183 while t < timeHorizon and not collision:
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184 t += 1
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185 poly1 = moving.pointsToShapely([t1.predictPosition(t) for t1 in predictedTrajectories1])
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186 poly2 = moving.pointsToShapely([t2.predictPosition(t) for t2 in predictedTrajectories2])
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187 collision = poly1.overlaps(poly2)
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188 return collision, t, p1, p2
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189
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190 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon, printFigure = True):
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191 from matplotlib.pyplot import figure, axis, title, clf, savefig
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192 if printFigure:
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193 clf()
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194 else:
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195 figure()
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196 for et in predictedTrajectories1:
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197 for t in range(int(np.round(timeHorizon))):
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198 et.predictPosition(t)
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199 et.plot('rx')
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200 for et in predictedTrajectories2:
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201 for t in range(int(np.round(timeHorizon))):
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202 et.predictPosition(t)
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203 et.plot('bx')
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204 obj1.plot('r', withOrigin = True)
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205 obj2.plot('b', withOrigin = True)
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206 title('instant {0}'.format(currentInstant))
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207 axis('equal')
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208 if printFigure:
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209 savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
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210
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211 def calculateProbability(nMatching,similarity,objects):
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212 sumFrequencies=sum([nMatching[p] for p in similarity])
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213 prototypeProbability={}
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214 for i in similarity:
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215 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
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216 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability])
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diff changeset
217 probabilities={}
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218 for i in prototypeProbability:
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219 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
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220 return probabilities
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221
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222 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
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223 ''' behaviour prediction first step'''
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diff changeset
224 if route[0] not in noiseEntryNums:
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225 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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226 elif route[1] not in noiseExitNums:
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227 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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228 else:
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229 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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230 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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diff changeset
231 similarity={}
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232 for y in prototypesRoutes:
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233 if y in prototypes:
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234 prototypesIDs=prototypes[y]
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diff changeset
235 for x in prototypesIDs:
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parents: 613
diff changeset
236 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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parents: 613
diff changeset
237 if s >= minSimilarity:
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parents: 613
diff changeset
238 similarity[x]=s
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parents: 613
diff changeset
239
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parents: 613
diff changeset
240 if mostMatched==None:
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parents: 613
diff changeset
241 probabilities= calculateProbability(nMatching,similarity,objects)
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parents: 613
diff changeset
242 return probabilities
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 613
diff changeset
243 else:
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parents: 613
diff changeset
244 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
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
245 keys=[k for k in similarity if similarity[k] in mostMatchedValues]
619
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parents: 613
diff changeset
246 newSimilarity={}
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parents: 613
diff changeset
247 for i in keys:
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parents: 613
diff changeset
248 newSimilarity[i]=similarity[i]
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parents: 613
diff changeset
249 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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parents: 613
diff changeset
250 return probabilities
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
251
613
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diff changeset
252 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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diff changeset
253 if useDestination:
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parents: 613
diff changeset
254 prototypesRoutes=[route]
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parents: 613
diff changeset
255 else:
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parents: 613
diff changeset
256 if route[0] not in noiseEntryNums:
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parents: 613
diff changeset
257 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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parents: 613
diff changeset
258 elif route[1] not in noiseExitNums:
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parents: 613
diff changeset
259 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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parents: 613
diff changeset
260 else:
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parents: 613
diff changeset
261 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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parents: 613
diff changeset
262 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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parents: 613
diff changeset
263 similarity={}
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parents: 613
diff changeset
264 for y in prototypesRoutes:
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
265 if y in prototypes:
619
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parents: 613
diff changeset
266 prototypesIDs=prototypes[y]
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parents: 613
diff changeset
267 for x in prototypesIDs:
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
268 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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
269 if s >= minSimilarity:
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
270 similarity[x]=s
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
271
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parents: 613
diff changeset
272 newSimilarity={}
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
273 for i in similarity:
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
274 if i in secondStepPrototypes:
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diff changeset
275 for j in secondStepPrototypes[i]:
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
276 newSimilarity[j]=similarity[i]
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parents: 613
diff changeset
277 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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parents: 613
diff changeset
278 return probabilities
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parents: 613
diff changeset
279
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
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diff changeset
280 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
281 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
619
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parents: 613
diff changeset
282 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
283 if useSpeedPrototype:
613
306db0f3c7a2 move 4 functions from trajLearning file
MohamedGomaa
parents: 611
diff changeset
284 prototypeTrajectories=findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
285 else:
613
306db0f3c7a2 move 4 functions from trajLearning file
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parents: 611
diff changeset
286 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
619
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parents: 613
diff changeset
287 return prototypeTrajectories
610
0dc36203973d remove dublicated code for collision/crossing computations
MohamedGomaa
parents: 607
diff changeset
288
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
289
665
15e244d2a1b5 corrected bug with circular import for VideoFilenameAddable, moved to base module
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 662
diff changeset
290 class PredictionParameters(object):
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
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parents: 1029
diff changeset
291 def __init__(self, name, maxSpeed, useCurvilinear = False):
257
9281878ff19e untested collision/crossing computation
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parents: 256
diff changeset
292 self.name = name
266
aba9711b3149 small modificatons and reorganization
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parents: 265
diff changeset
293 self.maxSpeed = maxSpeed
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1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
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diff changeset
294 self.useCurvilinear = useCurvilinear
266
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parents: 265
diff changeset
295
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parents: 265
diff changeset
296 def __str__(self):
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parents: 265
diff changeset
297 return '{0} {1}'.format(self.name, self.maxSpeed)
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
298
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
299 def generatePredictedTrajectories(self, obj, instant):
987
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parents: 985
diff changeset
300 return None
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parents: 985
diff changeset
301
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parents: 985
diff changeset
302 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
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parents: 985
diff changeset
303 '''returns the lists of collision points and crossing zones'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
304 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, currentInstant)
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parents: 985
diff changeset
305 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, currentInstant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
306
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
307 collisionPoints = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
308 if computeCZ:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
309 crossingZones = []
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
310 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
311 crossingZones = None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
312 for et1 in predictedTrajectories1:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
313 for et2 in predictedTrajectories2:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
314 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
315 if collision:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
316 collisionPoints.append(SafetyPoint((p1+p2)*0.5, et1.probability*et2.probability, t))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
317 elif computeCZ: # check if there is a crossing zone
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
318 # TODO same computation as PET with metric + concatenate past trajectory with future trajectory
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
319 cz = None
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
320 t1 = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
321 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
322 t2 = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
323 while not cz and t2 < timeHorizon:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
324 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
325 if cz is not None:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
326 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
327 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
328 t2 += 1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
329 t1 += 1
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
330
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
331 if debug:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
332 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
333
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
334 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
335
949
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
336 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
337 '''Computes all crossing and collision points at each common instant for two road users. '''
987
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
338 collisionPoints = {}
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
339 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
340 crossingZones = {}
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
341 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
342 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
343 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
344 commonTimeInterval = timeInterval
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
345 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
346 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
347 #if nProcesses == 1:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
348 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
349 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
350 if len(cp) != 0:
d6c1c05d11f5 modified multithreading at the interaction level for safety computations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 948
diff changeset
351 collisionPoints[i] = cp
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
352 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
353 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
354 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
355
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
356 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
357 '''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
358 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
359 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
360 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
361 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
362 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
363 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
364 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
365 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
366 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
367 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
368 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
369 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
370 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
371 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
372 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
373 # 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
374 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
375 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
376
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 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
378 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
379
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 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
381
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
382 class ConstantPredictionParameters(PredictionParameters):
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
383 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
384 PredictionParameters.__init__(self, 'constant velocity', maxSpeed)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
385
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
386 def generatePredictedTrajectories(self, obj, instant):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
387 return [PredictedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant), maxSpeed = self.maxSpeed)]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
388
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
389 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
390 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
391 '''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
392 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
393 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
394 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
395 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
396 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
397 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
398 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
399 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
400 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
401 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
402 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
403
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
404 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
405 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
406 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
407 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
408
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
409 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
410 predictedTrajectories = []
860
07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu>
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 826
diff changeset
411 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
412 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
413 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
414 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
415 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
416 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
417 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
418 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
419 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
420 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
421 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
422 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
423 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
424 self.steeringDistribution,
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
425 probability,
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
426 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
427 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
428
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
429 class PointSetPredictionParameters(PredictionParameters):
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
430 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
431 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
432
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
433 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
434 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
435 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
436 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
437 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
438 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
439 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
440 for initialPosition,initialVelocity in zip(positions, velocities):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
441 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity, probability = probability, maxSpeed = self.maxSpeed))
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
442 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
443 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
444 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
445 return None
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
446
943
b1e8453c207c work on motion prediction using motion patterns
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 942
diff changeset
447
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
448 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
449 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
450 '''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
451 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
452
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
453 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
454 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
455 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
456 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
457 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
458 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
459 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
460 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
461 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
462
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
463 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
464 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
465
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
466 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
467 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
468 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
469 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
470 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
471 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
472 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
473 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
474 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
475 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
476 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
477 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
478 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
479 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
480 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
481 self.steeringDistribution()),
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
482 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
483 self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
484 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
485
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
486
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
487 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
488 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
489 using direct computation of the intersecting point
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
490 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
491
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
492 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
493 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
494
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
495 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
496 collisionPoints = []
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
497 if computeCZ:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
498 crossingZones = []
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
499 else:
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
500 crossingZones = None
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
501
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
502 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
503 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
504 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
505 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
506 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
507 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
508 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
509 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
510
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
511 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
512 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
513 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
514 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
515 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
516 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
517 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
518 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
519 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
520 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
521 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
522 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
523 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
524 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
525
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
526 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
527 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
528 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
529 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
530 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
531
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
532 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
533 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
534 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
535 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
536 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
537 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
538 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
539 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
540 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
541 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
542
987
f026ce2af637 found bug with direct ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 985
diff changeset
543 return collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
544
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
545 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
546 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
547 using direct computation of the intersecting point (solving the equation)
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
548 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
549
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
550 def __init__(self, useCurvilinear = False):
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
551 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
552
701
4cc56ff82c3c corrected bug for prediction at constant velocity, exact computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 698
diff changeset
553 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
554 'TODO compute pPET'
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
555 collisionPoints = []
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
556 crossingZones = []
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
557
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
558 if self.useCurvilinear:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
559 pass # Lionel
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
560 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
561 p1 = obj1.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
562 p2 = obj2.getPositionAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
563 v1 = obj1.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
564 v2 = obj2.getVelocityAtInstant(currentInstant)
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
565 #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
566
1104
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
567 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
568 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
569 if ttc is not None:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
570 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
571 else:
1c59091853e0 generalization of motion prediction methods to curvilinear trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1029
diff changeset
572 pass # compute pPET
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
573 return collisionPoints, crossingZones
881
8ba82b371eea work on storing PET
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 860
diff changeset
574
1209
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
575 class CVRectPredictionParameters(PredictionParameters):
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
576 '''Prediction parameters of prediction at constant velocity
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
577 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
578 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
579
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
580 def __init__(self):
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
581 PredictionParameters.__init__(self, 'constant velocity for rectangles', None)
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
582
2064e52019db work on TTC for BEV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1154
diff changeset
583 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
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584 'TODO compute pPET'
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585 collisionPoints = []
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586 crossingZones = []
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587
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588 # first test if there is a collision (test if movement is parallel to sides of vehicle)
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589 # test if vehicle aligned with y axis, otherwise, compute slope
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590
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591
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592 # compute approximate time of arrival
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593
619
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594 class PrototypePredictionParameters(PredictionParameters):
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595 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True):
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596 PredictionParameters.__init__(self, 'prototypes', None)
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597 self.prototypes = prototypes
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598 self.nPredictedTrajectories = nPredictedTrajectories
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599 self.lcss = LCSS(metric = lcssMetric, epsilon = pointSimilarityDistance)
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600 self.minSimilarity = minSimilarity
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601 self.minFeatureTime = minFeatureTime
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602 self.constantSpeed = constantSpeed
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603 self.useFeatures = useFeatures
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604
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605 def getLcss(self):
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606 return self.lcss
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607
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608 def addPredictedTrajectories(self, predictedTrajectories, obj, instant):
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609 obj.computeTrajectorySimilarities(self.prototypes, self.lcss)
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610 for proto, similarities in zip(self.prototypes, obj.prototypeSimilarities):
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611 if similarities[instant-obj.getFirstInstant()] >= self.minSimilarity:
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612 initialPosition = obj.getPositionAtInstant(instant)
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613 initialVelocity = obj.getVelocityAtInstant(instant)
1154
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614 predictedTrajectory = PredictedTrajectoryPrototype(initialPosition, initialVelocity, proto.getMovingObject(), constantSpeed = self.constantSpeed, probability = proto.getNMatchings())
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615 if predictedTrajectory.valid:
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616 predictedTrajectories.append(predictedTrajectory)
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617
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618 def generatePredictedTrajectories(self, obj, instant):
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619 predictedTrajectories = []
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620 if instant-obj.getFirstInstant()+1 >= self.minFeatureTime:
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621 if self.useFeatures and obj.hasFeatures():
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622 if not hasattr(obj, 'currentPredictionFeatures'):
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diff changeset
623 obj.currentPredictionFeatures = []
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624 else:
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625 obj.currentPredictionFeatures[:] = [f for f in obj.currentPredictionFeatures if f.existsAtInstant(instant)]
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626 firstInstants = [(f,f.getFirstInstant()) for f in obj.getFeatures() if f.existsAtInstant(instant) and f not in obj.currentPredictionFeatures]
945
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627 firstInstants.sort(key = lambda t: t[1])
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diff changeset
628 for f,t1 in firstInstants[:min(self.nPredictedTrajectories, len(firstInstants), self.nPredictedTrajectories-len(obj.currentPredictionFeatures))]:
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parents: 945
diff changeset
629 obj.currentPredictionFeatures.append(f)
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diff changeset
630 for f in obj.currentPredictionFeatures:
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diff changeset
631 self.addPredictedTrajectories(predictedTrajectories, f, instant)
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632 else:
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633 self.addPredictedTrajectories(predictedTrajectories, obj, instant)
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diff changeset
634 return predictedTrajectories
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diff changeset
635
255
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diff changeset
636 if __name__ == "__main__":
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diff changeset
637 import doctest
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diff changeset
638 import unittest
271
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diff changeset
639 suite = doctest.DocFileSuite('tests/prediction.txt')
255
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diff changeset
640 #suite = doctest.DocTestSuite()
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diff changeset
641 unittest.TextTestRunner().run(suite)
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diff changeset
642 #doctest.testmod()
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diff changeset
643 #doctest.testfile("example.txt")
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diff changeset
644