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comparison trafficintelligence/prediction.py @ 1209:2064e52019db

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work on TTC for BEV
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Apr 2023 23:36:32 -0400
parents 2795d0e114c9
children 1bad5f9b60de
comparison
equal deleted inserted replaced
1208:a07e455baaa6 1209:2064e52019db
551 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold) 551 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
552 if ttc is not None: 552 if ttc is not None:
553 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)] 553 collisionPoints = [SafetyPoint((p1+(v1*ttc)+p2+(v2*ttc))*0.5, 1., ttc)]
554 else: 554 else:
555 pass # compute pPET 555 pass # compute pPET
556
557 return collisionPoints, crossingZones 556 return collisionPoints, crossingZones
557
558 class CVRectPredictionParameters(PredictionParameters):
559 '''Prediction parameters of prediction at constant velocity
560 for objects represented by boxes (bird eye view boxes)
561 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
562
563 def __init__(self):
564 PredictionParameters.__init__(self, 'constant velocity for rectangles', None)
565
566 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
567 'TODO compute pPET'
568 collisionPoints = []
569 crossingZones = []
570
571 # first test if there is a collision (test if movement is parallel to sides of vehicle)
572 # test if vehicle aligned with y axis, otherwise, compute slope
573
574
575 # compute approximate time of arrival
558 576
559 class PrototypePredictionParameters(PredictionParameters): 577 class PrototypePredictionParameters(PredictionParameters):
560 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True): 578 def __init__(self, prototypes, nPredictedTrajectories, pointSimilarityDistance, minSimilarity, lcssMetric = 'cityblock', minFeatureTime = 10, constantSpeed = False, useFeatures = True):
561 PredictionParameters.__init__(self, 'prototypes', None) 579 PredictionParameters.__init__(self, 'prototypes', None)
562 self.prototypes = prototypes 580 self.prototypes = prototypes