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annotate scripts/safety-analysis.py @ 338:f3aceea2afbb

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first safety analysis script
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 17 Jun 2013 16:26:11 -0400
parents dc2e68e936c7
children 74e437ab5f11
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1 #! /usr/bin/env python
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3 import utils, storage, prediction, events
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5 import sys, argparse
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6
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7 import matplotlib.pyplot as plt
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8 import numpy as np
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9
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10 from ConfigParser import ConfigParser
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12 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
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13 parser.add_argument('configFilename', help = 'name of the configuration file')
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14 # parser.add_argument('-c', help = 'name of the configuration file') #
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15 args = parser.parse_args()
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16 print(args)
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17 # TODO work on the way to indicate an interaction definition
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19 # if False: # test if there is a configuration file?
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20 params = utils.TrackingParameters()
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21 params.loadConfigFile(args.configFilename)
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22
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23 # configuration parameters # TODO from command line
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24 frameRate = 15 # frame per second
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25 maxSpeed = 90/3.6/frameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways
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26 timeHorizon= frameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
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27 collisionDistanceThreshold= 1.8 # m
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28 computeCZ = True
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29
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30 # parameters for prediction methods
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31 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(maxSpeed)
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33 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(maxSpeed, 100, 2./frameRate**2, # m/s2
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34 0.2/frameRate) # rad/s
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35
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36 featurePredictionParameters = prediction.PointSetPredictionParameters(maxSpeed)
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37
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38 evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(maxSpeed, 100, -9.1/frameRate**2, # m/s2
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39 4.3/frameRate**2, # m/s2
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40 0.5/frameRate, # rad/s
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41 False)
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42
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43 featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(maxSpeed, 10, -9.1/frameRate**2, # m/s2
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44 4.3/frameRate**2, # m/s2
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45 0.5/frameRate, # rad/s
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46 True)
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50 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object')
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51 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation
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52
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53 interactions = events.createInteractions(objects)
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54 for inter in interactions[:2]:
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55 inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ)
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57 plt.figure()
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58 plt.axis('equal')
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59 for inter in interactions[:2]:
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60 for collisionPoints in inter.collisionPoints.values():
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61 for cp in collisionPoints:
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62 plot([cp.x], [cp.y], 'x')
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64 # for the demo, output automatically a map
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65 # possibility to process longitudinal coords only
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