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annotate python/traffic_engineering.py @ 594:9e39cd95e017

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first implementation of CLEAR MOT (needs formal tests)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 07 Dec 2014 01:32:36 -0500
parents 850ed17c7b2f
children 3b13ec964476
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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 def generateTimeHeadways(meanTimeHeadway, simulationTime):
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16 '''Generates the time headways between arrivals
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17 given the meanTimeHeadway and the negative exponential distribution
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18 over a time interval of length simulationTime (assumed to be in same time unit as headway'''
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19 from random import expovariate
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20 headways = []
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21 totalTime = 0
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22 flow = 1/meanTimeHeadway
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23 while totalTime < simulationTime:
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24 h = expovariate(flow)
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25 headways.append(h)
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26 totalTime += h
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27 return headways
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28
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29 class Vehicle:
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30 '''Generic vehicle class
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31 1D coordinates for now'''
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32 class PredictedTrajectory1D(prediction.PredictedTrajectory):
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33 def __init__(self, initialPosition, initialSpeed, control, maxSpeed = None):
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34 self.control = control
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35 self.maxSpeed = maxSpeed
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36 self.probability = None
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37 self.predictedPositions = {0: moving.Point(initialPosition)}
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38 self.predictedSpeedOrientations = {0: moving.NormAngle(initialSpeed, 0)}
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39
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40 def setAcceleration(self, acceleration):
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41 self.control = moving.NormAngle(acceleration, 0)
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42
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43 def getControl(self):
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44 return self.control
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46
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47 def __init__(self, initialPosition = 0, initialSpeed = 0, acceleration = 0, prt = 2.5, leader = None):
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48 self.positions = PredictedTrajectory1D(initialPosition, initialSpeed)
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49
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50 self.prt = prt
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51 self.leader = leader
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52 # todo add microModel (Treiber)
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53
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54 def setAcceleration(self, acceleration):
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55 self.positions.setAcceleration(acceleration)
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56
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57 def updatePosition(self, dt): # knowledge of time outside of vehicle ??
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58 speed = self.speed
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59 self.speed += self.acceleration*dt
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60 self.position += speed*dt
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61 if self.log:
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62 self.positions.append(self.position)
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63 self.speeds.append(self.speed)
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64 self.accelerations.append(self.acceleration)
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65
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66 def updateAcceleration(self, dt):
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67 '''Updates acceleration and speed as a function of leader
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68 and other factors'''
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69 pass
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71 def update(self, dt):
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72 self.updatePosition(dt)
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73 self.updateAcceleration(dt) # function of leader
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74
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75 def printStats(self):
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76 print('{0} {1} {2}'.format(self.position, self.speed, self.acceleration))
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77
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78 #########################
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79 # fundamental diagram
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80 #########################
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81
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82 class FundamentalDiagram:
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83 ''' '''
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84 def __init__(self, name):
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85 self.name = name
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86
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87 def q(self, k):
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88 return k*self.v(k)
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89
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90 @staticmethod
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91 def meanHeadway(k):
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92 return 1/k
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93
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94 @staticmethod
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95 def meanSpacing(q):
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96 return 1/q
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97
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98 def plotVK(self, language='fr', units={}):
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99 from numpy import arange
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100 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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101 densities = [k for k in arange(1, self.kj+1)]
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102 figure()
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103 plot(densities, [self.v(k) for k in densities])
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104 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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105 ylabel('Vitesse (km/h)')
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106
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107 def plotQK(self, language='fr', units={}):
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108 from numpy import arange
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109 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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110 densities = [k for k in arange(1, self.kj+1)]
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111 figure()
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112 plot(densities, [self.q(k) for k in densities])
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113 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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114 ylabel('Debit (km/h)')
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115
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116 class GreenbergFD(FundamentalDiagram):
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117 '''Speed is the logarithm of density'''
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118 def __init__(self, vc, kj):
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119 FundamentalDiagram.__init__(self,'Greenberg')
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120 self.vc=vc
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121 self.kj=kj
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122
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123 def v(self,k):
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124 from numpy import log
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125 return self.vc*log(self.kj/k)
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126
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127 def criticalDensity(self):
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128 from numpy import e
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129 self.kc = self.kj/e
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130 return self.kc
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131
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132 def capacity(self):
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diff changeset
133 self.qmax = self.kc*self.vc
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134 return self.qmax
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135
33
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136 #########################
116
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137 # intersection
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138 #########################
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139
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140 class FourWayIntersection:
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141 '''Simple class for simple intersection outline'''
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142 def __init__(self, dimension, coordX, coordY):
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143 self.dimension = dimension
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144 self.coordX = coordX
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145 self.coordY = coordY
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146
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147 def plot(self, options = 'k'):
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148 from matplotlib.pyplot import plot, axis
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149
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150 minX = min(self.dimension[0])
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151 maxX = max(self.dimension[0])
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152 minY = min(self.dimension[1])
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153 maxY = max(self.dimension[1])
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154
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155 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
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156 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
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157 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
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158 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
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159 axis('equal')
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160
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161 #########################
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162 # traffic signals
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163 #########################
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164
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165 class Volume:
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166 '''Class to represent volumes with varied vehicule types '''
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167 def __init__(self, volume, types = ['pc'], proportions = [1], equivalents = [1], nLanes = 1):
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168 '''mvtEquivalent is the equivalent if the movement is right of left turn'''
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169
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170 # check the sizes of the lists
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171 if sum(proportions) == 1:
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172 self.volume = volume
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173 self.types = types
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174 self.proportions = proportions
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175 self.equivalents = equivalents
314
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176 self.nLanes = nLanes
33
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177 else:
302
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178 print('Proportions do not sum to 1')
33
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179 pass
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180
314
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181 def checkProtected(self, opposedThroughMvt):
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182 '''Checks if this left movement should be protected,
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diff changeset
183 ie if one of the main two conditions on left turn is verified'''
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184 return self.volume >= 200 or self.volume*opposedThroughMvt.volume/opposedThroughMvt.nLanes > 50000
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185
205
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186 def getPCUVolume(self):
33
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187 '''Returns the passenger-car equivalent for the input volume'''
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188 v = 0
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189 for p, e in zip(self.proportions, self.equivalents):
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190 v += p*e
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191 return v*self.volume
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192
34
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193 class IntersectionMovement:
33
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194 '''Represents an intersection movement
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195 with a volume, a type (through, left or right)
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196 and an equivalent for movement type'''
205
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diff changeset
197 def __init__(self, volume, mvtEquivalent = 1):
33
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198 self.volume = volume
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199 self.mvtEquivalent = mvtEquivalent
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200
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201 def getTVUVolume(self):
205
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diff changeset
202 return self.mvtEquivalent*self.volume.getPCUVolume()
33
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203
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204 class LaneGroup:
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205 '''Class that represents a group of mouvements'''
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206
34
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207 def __init__(self, movements, nLanes):
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208 self.movements = movements
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diff changeset
209 self.nLanes = nLanes
33
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210
34
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diff changeset
211 def getTVUVolume(self):
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diff changeset
212 return sum([mvt.getTVUVolume() for mvt in self.movements])
33
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213
206
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diff changeset
214 def getCharge(self, saturationVolume):
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diff changeset
215 return self.getTVUVolume()/(self.nLanes*saturationVolume)
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diff changeset
216
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diff changeset
217 def optimalCycle(lostTime, criticalCharge):
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diff changeset
218 return (1.5*lostTime+5)/(1-criticalCharge)
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diff changeset
219
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diff changeset
220 def minimumCycle(lostTime, criticalCharge, degreeSaturation=1.):
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parents: 205
diff changeset
221 'degree of saturation can be used as the peak hour factor too'
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diff changeset
222 return lostTime/(1-criticalCharge/degreeSaturation)
34
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diff changeset
223
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diff changeset
224 class Cycle:
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diff changeset
225 '''Class to compute optimal cycle and the split of effective green times'''
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diff changeset
226 def __init__(self, phases, lostTime, saturationVolume):
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diff changeset
227 '''phases is a list of phases
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diff changeset
228 a phase is a list of lanegroups'''
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diff changeset
229 self.phases = phases
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diff changeset
230 self.lostTime = lostTime
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diff changeset
231 self.saturationVolume = saturationVolume
33
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232
206
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diff changeset
233 def computeCriticalCharges(self):
314
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diff changeset
234 self.criticalCharges = [max([lg.getCharge(self.saturationVolume) for lg in phase]) for phase in self.phases]
34
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diff changeset
235 self.criticalCharge = sum(self.criticalCharges)
206
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parents: 205
diff changeset
236
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diff changeset
237 def computeOptimalCycle(self):
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diff changeset
238 self.computeCriticalCharges()
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diff changeset
239 self.C = optimalCycle(self.lostTime, self.criticalCharge)
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diff changeset
240 return self.C
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diff changeset
241
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diff changeset
242 def computeMinimumCycle(self, degreeSaturation=1.):
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diff changeset
243 self.computeCriticalCharges()
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diff changeset
244 self.C = minimumCycle(self.lostTime, self.criticalCharge, degreeSaturation)
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diff changeset
245 return self.C
34
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diff changeset
246
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diff changeset
247 def computeEffectiveGreen(self):
314
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parents: 302
diff changeset
248 #from numpy import round
206
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diff changeset
249 #self.computeCycle() # in case it was not done before
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diff changeset
250 effectiveGreenTime = self.C-self.lostTime
34
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diff changeset
251 self.effectiveGreens = [round(c*effectiveGreenTime/self.criticalCharge,1) for c in self.criticalCharges]
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diff changeset
252 return self.effectiveGreens
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diff changeset
253
33
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254
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parents:
diff changeset
255 def computeInterGreen(perceptionReactionTime, initialSpeed, intersectionLength, vehicleAverageLength = 6, deceleration = 3):
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parents:
diff changeset
256 '''Computes the intergreen time (yellow/amber plus all red time)
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parents:
diff changeset
257 Deceleration is positive
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parents:
diff changeset
258 All variables should be in the same units'''
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parents:
diff changeset
259 if deceleration > 0:
36
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parents: 34
diff changeset
260 return [perceptionReactionTime+float(initialSpeed)/(2*deceleration), float(intersectionLength+vehicleAverageLength)/initialSpeed]
33
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parents:
diff changeset
261 else:
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parents:
diff changeset
262 print 'Issue deceleration should be strictly positive'
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parents:
diff changeset
263 return None
37
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parents: 36
diff changeset
264
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parents: 36
diff changeset
265 def uniformDelay(cycleLength, effectiveGreen, saturationDegree):
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266 '''Computes the uniform delay'''
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267 return 0.5*cycleLength*(1-float(effectiveGreen)/cycleLength)/(1-float(effectiveGreen*saturationDegree)/cycleLength)
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268
493
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269 def overflowDelay(T, X, c, k=0.5, I=1):
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270 '''Computes the overflow delay (HCM)
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271 T in hours
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272 c capacity of the lane group
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273 k default for fixed time signal
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274 I=1 for isolated intersection (Poisson arrival)'''
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275 from math import sqrt
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276 return 900*T*(X - 1 + sqrt((X - 1)**2 + 8*k*I*X/(c*T)))
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277
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278 #########################
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279 # misc
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280 #########################
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281
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282 def timeChangingSpeed(v0, vf, a, TPR):
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283 return TPR+(vf-v0)/a
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284
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285 def distanceChangingSpeed(v0, vf, a, TPR):
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286 return TPR*v0+(vf*vf-v0*v0)/(2*a)