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comparison trafficintelligence/prediction.py @ 1104:1c59091853e0

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generalization of motion prediction methods to curvilinear trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 11 Mar 2019 15:41:05 -0400
parents c6cf75a2ed08
children 2795d0e114c9
comparison
equal deleted inserted replaced
1103:7594802f281a 1104:1c59091853e0
263 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched) 263 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
264 return prototypeTrajectories 264 return prototypeTrajectories
265 265
266 266
267 class PredictionParameters(object): 267 class PredictionParameters(object):
268 def __init__(self, name, maxSpeed): 268 def __init__(self, name, maxSpeed, useCurvilinear = False):
269 self.name = name 269 self.name = name
270 self.maxSpeed = maxSpeed 270 self.maxSpeed = maxSpeed
271 self.useCurvilinear = useCurvilinear
271 272
272 def __str__(self): 273 def __str__(self):
273 return '{0} {1}'.format(self.name, self.maxSpeed) 274 return '{0} {1}'.format(self.name, self.maxSpeed)
274 275
275 def generatePredictedTrajectories(self, obj, instant): 276 def generatePredictedTrajectories(self, obj, instant):
521 class CVExactPredictionParameters(PredictionParameters): 522 class CVExactPredictionParameters(PredictionParameters):
522 '''Prediction parameters of prediction at constant velocity 523 '''Prediction parameters of prediction at constant velocity
523 using direct computation of the intersecting point (solving the equation) 524 using direct computation of the intersecting point (solving the equation)
524 Warning: the computed time to collision may be higher than timeHorizon (not used)''' 525 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
525 526
526 def __init__(self): 527 def __init__(self, useCurvilinear = False):
527 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None) 528 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None, useCurvilinear)
528 529
529 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs): 530 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
530 'TODO compute pPET' 531 'TODO compute pPET'
531 collisionPoints = [] 532 collisionPoints = []
532 crossingZones = [] 533 crossingZones = []
533 534
534 p1 = obj1.getPositionAtInstant(currentInstant) 535 if self.useCurvilinear:
535 p2 = obj2.getPositionAtInstant(currentInstant) 536 pass # Lionel
536 v1 = obj1.getVelocityAtInstant(currentInstant) 537 else:
537 v2 = obj2.getVelocityAtInstant(currentInstant) 538 p1 = obj1.getPositionAtInstant(currentInstant)
538 #intersection = moving.intersection(p1, p1+v1, p2, p2+v2) 539 p2 = obj2.getPositionAtInstant(currentInstant)
539 540 v1 = obj1.getVelocityAtInstant(currentInstant)
540 if not moving.Point.parallel(v1, v2): 541 v2 = obj2.getVelocityAtInstant(currentInstant)
541 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold) 542 #intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
542 if ttc is not None: 543
543 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)] 544 if not moving.Point.parallel(v1, v2):
544 else: 545 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
545 pass # compute pPET 546 if ttc is not None:
547 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)]
548 else:
549 pass # compute pPET
546 550
547 return collisionPoints, crossingZones 551 return collisionPoints, crossingZones
548 552
549 class PrototypePredictionParameters(PredictionParameters): 553 class PrototypePredictionParameters(PredictionParameters):
550 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True): 554 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True):