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annotate python/traffic_engineering.py @ 300:f65b828e5521

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working on trajectory simulation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 13 Feb 2013 18:26:49 -0500
parents 82b4101d9a2f
children 9d88a4d97473
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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 __metaclass__ = type
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7
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9 #########################
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10 # Simulation
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11 #########################
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12
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13 class Vehicle:
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14 'Generic vehicle class
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15 1D coordinates for now'
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16 class PredictedTrajectory1D(prediction.PredictedTrajectory):
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17 def __init__(self, initialPosition, initialSpeed, control, maxSpeed = None):
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18 self.control = control
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19 self.maxSpeed = maxSpeed
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20 self.probability = None
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21 self.predictedPositions = {0: moving.Point(initialPosition)}
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22 self.predictedSpeedOrientations = {0: moving.NormAngle(initialSpeed, 0)}
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23
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24 def setAcceleration(self, acceleration):
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25 self.control = moving.NormAngle(acceleration, 0)
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26
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27 def getControl(self):
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28 return self.control
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30
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31 def __init__(self, initialPosition = 0, initialSpeed = 0, acceleration = 0, prt = 2.5, leader = None):
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32 self.positions = PredictedTrajectory1D(initialPosition, initialSpeed)
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33
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34 self.prt = prt
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35 self.leader = leader
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36 # todo add microModel (Treiber)
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37
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38 def setAcceleration(self, acceleration):
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39 self.positions.setAcceleration(acceleration)
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40
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41 def updatePosition(self, dt): # knowledge of time outside of vehicle ??
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42 speed = self.speed
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43 self.speed += self.acceleration*dt
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44 self.position += speed*dt
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45 if self.log:
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46 self.positions.append(self.position)
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47 self.speeds.append(self.speed)
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48 self.accelerations.append(self.acceleration)
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49
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50 def updateAcceleration(self, dt):
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51 '''Updates acceleration and speed as a function of leader
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52 and other factors'''
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53 pass
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54
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55 def update(self, dt):
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56 self.updatePosition(dt)
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57 self.updateAcceleration(dt) # function of leader
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58
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59 def printStats(self):
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60 print('{0} {1} {2}'.format(self.position, self.speed, self.acceleration))
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61
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62 #########################
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63 # fundamental diagram
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64 #########################
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65
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66 class FundamentalDiagram:
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67 ''' '''
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68 def __init__(self, name):
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69 self.name = name
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70
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71 def q(self, k):
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72 return k*self.v(k)
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74 @staticmethod
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75 def meanHeadway(k):
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76 return 1/k
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77
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78 @staticmethod
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79 def meanSpacing(q):
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80 return 1/q
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81
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82 def plotVK(self, language='fr', units={}):
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83 from numpy import arange
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84 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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85 densities = [k for k in arange(1, self.kj+1)]
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86 figure()
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87 plot(densities, [self.v(k) for k in densities])
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88 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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89 ylabel('Vitesse (km/h)')
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90
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91 def plotQK(self, language='fr', units={}):
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92 from numpy import arange
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93 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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94 densities = [k for k in arange(1, self.kj+1)]
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95 figure()
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96 plot(densities, [self.q(k) for k in densities])
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97 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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98 ylabel('Debit (km/h)')
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100 class GreenbergFD(FundamentalDiagram):
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101 '''Speed is the logarithm of density'''
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102 def __init__(self, vc, kj):
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103 FundamentalDiagram.__init__(self,'Greenberg')
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104 self.vc=vc
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105 self.kj=kj
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106
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107 def v(self,k):
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108 from numpy import log
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109 return self.vc*log(self.kj/k)
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110
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111 def criticalDensity(self):
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112 from numpy import e
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113 self.kc = self.kj/e
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114 return self.kc
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115
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116 def capacity(self):
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117 self.qmax = self.kc*self.vc
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118 return self.qmax
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119
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120 #########################
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121 # intersection
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122 #########################
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123
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124 class FourWayIntersection:
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125 '''Simple class for simple intersection outline'''
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126 def __init__(self, dimension, coordX, coordY):
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127 self.dimension = dimension
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128 self.coordX = coordX
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129 self.coordY = coordY
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130
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131 def plot(self, options = 'k'):
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132 from matplotlib.pyplot import plot, axis
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133
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134 minX = min(self.dimension[0])
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135 maxX = max(self.dimension[0])
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136 minY = min(self.dimension[1])
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137 maxY = max(self.dimension[1])
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138
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139 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
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140 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
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141 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
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142 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
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143 axis('equal')
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144
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145 #########################
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146 # traffic signals
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147 #########################
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148
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149 class Volume:
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150 '''Class to represent volumes with varied vehicule types '''
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151 def __init__(self, volume, types = ['pc'], proportions = [1], equivalents = [1], nLanes = 1):
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152 '''mvtEquivalent is the equivalent if the movement is right of left turn'''
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153
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154 # check the sizes of the lists
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155 if sum(proportions) == 1:
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156 self.volume = volume
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157 self.types = types
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158 self.proportions = proportions
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159 self.equivalents = equivalents
206
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160 self.nLanes = nLanes # unused
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161 else:
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162 pass
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163
205
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164 def getPCUVolume(self):
33
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165 '''Returns the passenger-car equivalent for the input volume'''
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166 v = 0
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167 for p, e in zip(self.proportions, self.equivalents):
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168 v += p*e
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169 return v*self.volume
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170
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171 class IntersectionMovement:
33
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172 '''Represents an intersection movement
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173 with a volume, a type (through, left or right)
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174 and an equivalent for movement type'''
205
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175 def __init__(self, volume, mvtEquivalent = 1):
33
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176 self.volume = volume
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177 self.mvtEquivalent = mvtEquivalent
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178
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179 def getTVUVolume(self):
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180 return self.mvtEquivalent*self.volume.getPCUVolume()
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181
206
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182 class IntersectionApproach: # should probably not be used
33
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183 def __init__(self, leftTurnVolume, throughVolume, rightTurnVolume):
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184 self.leftTurnVolume = leftTurnVolume
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185 self.throughVolume = throughVolume
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186 self.rightTurnVolume = rightTurnVolume
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187
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188 def getTVUVolume(self, leftTurnEquivalent = 1, throughEquivalent = 1, rightTurnEquivalent = 1):
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189 return self.leftTurnVolume.getPCUVolume()*leftTurnEquivalent+self.throughVolume.getPCUVolume()*throughEquivalent+self.rightTurnVolume.getPCUVolume()*rightTurnEquivalent
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190
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191 class LaneGroup:
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192 '''Class that represents a group of mouvements'''
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193
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194 def __init__(self, movements, nLanes):
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195 self.movements = movements
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196 self.nLanes = nLanes
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197
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198 def getTVUVolume(self):
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199 return sum([mvt.getTVUVolume() for mvt in self.movements])
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200
206
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201 def getCharge(self, saturationVolume):
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202 return self.getTVUVolume()/(self.nLanes*saturationVolume)
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203
33
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204 def checkProtectedLeftTurn(leftMvt, opposedThroughMvt):
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205 '''Checks if one of the main two conditions on left turn is verified
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206 The lane groups should contain left and through movement'''
34
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207 return leftMvt.volume >= 200 or leftMvt.volume*opposedThroughMvt.volume/opposedThroughMvt.nLanes > 50000
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diff changeset
208
206
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209 def optimalCycle(lostTime, criticalCharge):
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210 return (1.5*lostTime+5)/(1-criticalCharge)
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diff changeset
211
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212 def minimumCycle(lostTime, criticalCharge, degreeSaturation=1.):
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diff changeset
213 'degree of saturation can be used as the peak hour factor too'
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diff changeset
214 return lostTime/(1-criticalCharge/degreeSaturation)
34
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215
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216 class Cycle:
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217 '''Class to compute optimal cycle and the split of effective green times'''
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218 def __init__(self, phases, lostTime, saturationVolume):
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219 '''phases is a list of phases
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220 a phase is a list of lanegroups'''
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221 self.phases = phases
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222 self.lostTime = lostTime
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223 self.saturationVolume = saturationVolume
33
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224
206
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diff changeset
225 def computeCriticalCharges(self):
34
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226 self.criticalCharges = []
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227 for phase in self.phases:
206
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diff changeset
228 self.criticalCharges.append(max([lg.getCharge(self.saturationVolume) for lg in phase]))
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diff changeset
229 self.criticalCharge = sum(self.criticalCharges)
206
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diff changeset
230
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diff changeset
231 def computeOptimalCycle(self):
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diff changeset
232 self.computeCriticalCharges()
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diff changeset
233 self.C = optimalCycle(self.lostTime, self.criticalCharge)
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diff changeset
234 return self.C
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235
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diff changeset
236 def computeMinimumCycle(self, degreeSaturation=1.):
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diff changeset
237 self.computeCriticalCharges()
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238 self.C = minimumCycle(self.lostTime, self.criticalCharge, degreeSaturation)
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diff changeset
239 return self.C
34
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240
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diff changeset
241 def computeEffectiveGreen(self):
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diff changeset
242 from numpy import round
206
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diff changeset
243 #self.computeCycle() # in case it was not done before
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244 effectiveGreenTime = self.C-self.lostTime
34
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diff changeset
245 self.effectiveGreens = [round(c*effectiveGreenTime/self.criticalCharge,1) for c in self.criticalCharges]
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246 return self.effectiveGreens
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247
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248
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249 def computeInterGreen(perceptionReactionTime, initialSpeed, intersectionLength, vehicleAverageLength = 6, deceleration = 3):
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250 '''Computes the intergreen time (yellow/amber plus all red time)
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251 Deceleration is positive
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252 All variables should be in the same units'''
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253 if deceleration > 0:
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diff changeset
254 return [perceptionReactionTime+float(initialSpeed)/(2*deceleration), float(intersectionLength+vehicleAverageLength)/initialSpeed]
33
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255 else:
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256 print 'Issue deceleration should be strictly positive'
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257 return None
37
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diff changeset
258
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259 def uniformDelay(cycleLength, effectiveGreen, saturationDegree):
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diff changeset
260 '''Computes the uniform delay'''
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diff changeset
261 return 0.5*cycleLength*(1-float(effectiveGreen)/cycleLength)/(1-float(effectiveGreen*saturationDegree)/cycleLength)
87
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262
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263 #########################
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diff changeset
264 # misc
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diff changeset
265 #########################
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266
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diff changeset
267 def timeChangingSpeed(v0, vf, a, TPR):
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parents: 73
diff changeset
268 return TPR+(vf-v0)/a
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 distanceChangingSpeed(v0, vf, a, TPR):
f234154207d4 distance and time to change speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 73
diff changeset
271 return TPR*v0+(vf*vf-v0*v0)/(2*a)