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annotate python/traffic_engineering.py @ 303:514f6b98cd8c

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fixed bug with keys from waitKey on Ubuntu 12.10
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 21 Mar 2013 14:01:46 -0400
parents 9d88a4d97473
children 539e2b4cfaa3
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1 #! /usr/bin/env python
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2 ''' Traffic Engineering Tools and Examples'''
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3
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4 from math import ceil
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5
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6 import prediction
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7
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8 __metaclass__ = type
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9
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11 #########################
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12 # Simulation
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13 #########################
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14
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15 class Vehicle:
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16 '''Generic vehicle class
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17 1D coordinates for now'''
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18 class PredictedTrajectory1D(prediction.PredictedTrajectory):
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19 def __init__(self, initialPosition, initialSpeed, control, maxSpeed = None):
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20 self.control = control
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21 self.maxSpeed = maxSpeed
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22 self.probability = None
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23 self.predictedPositions = {0: moving.Point(initialPosition)}
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24 self.predictedSpeedOrientations = {0: moving.NormAngle(initialSpeed, 0)}
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25
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26 def setAcceleration(self, acceleration):
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27 self.control = moving.NormAngle(acceleration, 0)
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28
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29 def getControl(self):
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30 return self.control
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33 def __init__(self, initialPosition = 0, initialSpeed = 0, acceleration = 0, prt = 2.5, leader = None):
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34 self.positions = PredictedTrajectory1D(initialPosition, initialSpeed)
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35
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36 self.prt = prt
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37 self.leader = leader
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38 # todo add microModel (Treiber)
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39
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40 def setAcceleration(self, acceleration):
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41 self.positions.setAcceleration(acceleration)
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42
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43 def updatePosition(self, dt): # knowledge of time outside of vehicle ??
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44 speed = self.speed
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45 self.speed += self.acceleration*dt
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46 self.position += speed*dt
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47 if self.log:
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48 self.positions.append(self.position)
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49 self.speeds.append(self.speed)
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50 self.accelerations.append(self.acceleration)
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51
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52 def updateAcceleration(self, dt):
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53 '''Updates acceleration and speed as a function of leader
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54 and other factors'''
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55 pass
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56
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57 def update(self, dt):
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58 self.updatePosition(dt)
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59 self.updateAcceleration(dt) # function of leader
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60
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61 def printStats(self):
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62 print('{0} {1} {2}'.format(self.position, self.speed, self.acceleration))
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63
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64 #########################
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65 # fundamental diagram
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66 #########################
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67
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68 class FundamentalDiagram:
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69 ''' '''
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70 def __init__(self, name):
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71 self.name = name
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72
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73 def q(self, k):
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74 return k*self.v(k)
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75
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76 @staticmethod
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77 def meanHeadway(k):
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78 return 1/k
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79
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80 @staticmethod
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81 def meanSpacing(q):
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82 return 1/q
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83
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84 def plotVK(self, language='fr', units={}):
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85 from numpy import arange
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86 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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87 densities = [k for k in arange(1, self.kj+1)]
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88 figure()
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89 plot(densities, [self.v(k) for k in densities])
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90 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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91 ylabel('Vitesse (km/h)')
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92
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93 def plotQK(self, language='fr', units={}):
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94 from numpy import arange
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95 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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96 densities = [k for k in arange(1, self.kj+1)]
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97 figure()
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98 plot(densities, [self.q(k) for k in densities])
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99 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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100 ylabel('Debit (km/h)')
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101
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102 class GreenbergFD(FundamentalDiagram):
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103 '''Speed is the logarithm of density'''
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104 def __init__(self, vc, kj):
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105 FundamentalDiagram.__init__(self,'Greenberg')
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106 self.vc=vc
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107 self.kj=kj
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108
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109 def v(self,k):
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110 from numpy import log
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111 return self.vc*log(self.kj/k)
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112
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113 def criticalDensity(self):
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114 from numpy import e
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115 self.kc = self.kj/e
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116 return self.kc
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117
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118 def capacity(self):
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119 self.qmax = self.kc*self.vc
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120 return self.qmax
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121
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122 #########################
116
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123 # intersection
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124 #########################
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125
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126 class FourWayIntersection:
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127 '''Simple class for simple intersection outline'''
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128 def __init__(self, dimension, coordX, coordY):
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129 self.dimension = dimension
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130 self.coordX = coordX
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131 self.coordY = coordY
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132
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133 def plot(self, options = 'k'):
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134 from matplotlib.pyplot import plot, axis
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135
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136 minX = min(self.dimension[0])
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137 maxX = max(self.dimension[0])
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138 minY = min(self.dimension[1])
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139 maxY = max(self.dimension[1])
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140
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141 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
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142 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
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143 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
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144 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
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145 axis('equal')
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146
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147 #########################
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148 # traffic signals
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149 #########################
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150
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151 class Volume:
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152 '''Class to represent volumes with varied vehicule types '''
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153 def __init__(self, volume, types = ['pc'], proportions = [1], equivalents = [1], nLanes = 1):
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154 '''mvtEquivalent is the equivalent if the movement is right of left turn'''
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155
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156 # check the sizes of the lists
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157 if sum(proportions) == 1:
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158 self.volume = volume
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159 self.types = types
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160 self.proportions = proportions
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161 self.equivalents = equivalents
206
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162 self.nLanes = nLanes # unused
33
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163 else:
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164 print('Proportions do not sum to 1')
33
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165 pass
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166
205
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167 def getPCUVolume(self):
33
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168 '''Returns the passenger-car equivalent for the input volume'''
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169 v = 0
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170 for p, e in zip(self.proportions, self.equivalents):
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171 v += p*e
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172 return v*self.volume
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173
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174 class IntersectionMovement:
33
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175 '''Represents an intersection movement
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176 with a volume, a type (through, left or right)
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177 and an equivalent for movement type'''
205
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178 def __init__(self, volume, mvtEquivalent = 1):
33
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179 self.volume = volume
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180 self.mvtEquivalent = mvtEquivalent
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181
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182 def getTVUVolume(self):
205
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183 return self.mvtEquivalent*self.volume.getPCUVolume()
33
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184
206
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185 class IntersectionApproach: # should probably not be used
33
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186 def __init__(self, leftTurnVolume, throughVolume, rightTurnVolume):
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187 self.leftTurnVolume = leftTurnVolume
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188 self.throughVolume = throughVolume
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189 self.rightTurnVolume = rightTurnVolume
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190
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191 def getTVUVolume(self, leftTurnEquivalent = 1, throughEquivalent = 1, rightTurnEquivalent = 1):
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192 return self.leftTurnVolume.getPCUVolume()*leftTurnEquivalent+self.throughVolume.getPCUVolume()*throughEquivalent+self.rightTurnVolume.getPCUVolume()*rightTurnEquivalent
33
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193
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194 class LaneGroup:
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195 '''Class that represents a group of mouvements'''
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196
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197 def __init__(self, movements, nLanes):
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198 self.movements = movements
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199 self.nLanes = nLanes
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200
34
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201 def getTVUVolume(self):
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202 return sum([mvt.getTVUVolume() for mvt in self.movements])
33
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203
206
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diff changeset
204 def getCharge(self, saturationVolume):
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205 return self.getTVUVolume()/(self.nLanes*saturationVolume)
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diff changeset
206
33
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207 def checkProtectedLeftTurn(leftMvt, opposedThroughMvt):
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208 '''Checks if one of the main two conditions on left turn is verified
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209 The lane groups should contain left and through movement'''
34
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diff changeset
210 return leftMvt.volume >= 200 or leftMvt.volume*opposedThroughMvt.volume/opposedThroughMvt.nLanes > 50000
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diff changeset
211
206
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diff changeset
212 def optimalCycle(lostTime, criticalCharge):
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diff changeset
213 return (1.5*lostTime+5)/(1-criticalCharge)
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diff changeset
214
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diff changeset
215 def minimumCycle(lostTime, criticalCharge, degreeSaturation=1.):
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diff changeset
216 'degree of saturation can be used as the peak hour factor too'
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diff changeset
217 return lostTime/(1-criticalCharge/degreeSaturation)
34
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218
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219 class Cycle:
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diff changeset
220 '''Class to compute optimal cycle and the split of effective green times'''
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221 def __init__(self, phases, lostTime, saturationVolume):
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diff changeset
222 '''phases is a list of phases
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223 a phase is a list of lanegroups'''
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224 self.phases = phases
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diff changeset
225 self.lostTime = lostTime
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diff changeset
226 self.saturationVolume = saturationVolume
33
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227
206
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diff changeset
228 def computeCriticalCharges(self):
34
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229 self.criticalCharges = []
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230 for phase in self.phases:
206
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diff changeset
231 self.criticalCharges.append(max([lg.getCharge(self.saturationVolume) for lg in phase]))
34
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diff changeset
232 self.criticalCharge = sum(self.criticalCharges)
206
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diff changeset
233
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diff changeset
234 def computeOptimalCycle(self):
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diff changeset
235 self.computeCriticalCharges()
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diff changeset
236 self.C = optimalCycle(self.lostTime, self.criticalCharge)
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diff changeset
237 return self.C
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diff changeset
238
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diff changeset
239 def computeMinimumCycle(self, degreeSaturation=1.):
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diff changeset
240 self.computeCriticalCharges()
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diff changeset
241 self.C = minimumCycle(self.lostTime, self.criticalCharge, degreeSaturation)
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diff changeset
242 return self.C
34
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diff changeset
243
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diff changeset
244 def computeEffectiveGreen(self):
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diff changeset
245 from numpy import round
206
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diff changeset
246 #self.computeCycle() # in case it was not done before
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diff changeset
247 effectiveGreenTime = self.C-self.lostTime
34
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diff changeset
248 self.effectiveGreens = [round(c*effectiveGreenTime/self.criticalCharge,1) for c in self.criticalCharges]
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diff changeset
249 return self.effectiveGreens
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diff changeset
250
33
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251
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252 def computeInterGreen(perceptionReactionTime, initialSpeed, intersectionLength, vehicleAverageLength = 6, deceleration = 3):
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253 '''Computes the intergreen time (yellow/amber plus all red time)
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diff changeset
254 Deceleration is positive
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diff changeset
255 All variables should be in the same units'''
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parents:
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256 if deceleration > 0:
36
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parents: 34
diff changeset
257 return [perceptionReactionTime+float(initialSpeed)/(2*deceleration), float(intersectionLength+vehicleAverageLength)/initialSpeed]
33
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258 else:
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259 print 'Issue deceleration should be strictly positive'
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260 return None
37
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diff changeset
261
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diff changeset
262 def uniformDelay(cycleLength, effectiveGreen, saturationDegree):
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diff changeset
263 '''Computes the uniform delay'''
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parents: 36
diff changeset
264 return 0.5*cycleLength*(1-float(effectiveGreen)/cycleLength)/(1-float(effectiveGreen*saturationDegree)/cycleLength)
87
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parents: 73
diff changeset
265
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diff changeset
266 #########################
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diff changeset
267 # misc
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
268 #########################
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
269
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
270 def timeChangingSpeed(v0, vf, a, TPR):
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
271 return TPR+(vf-v0)/a
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
272
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
273 def distanceChangingSpeed(v0, vf, a, TPR):
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
274 return TPR*v0+(vf*vf-v0*v0)/(2*a)