Mercurial Hosting > traffic-intelligence

comparison trafficintelligence/moving.py @ 1098:469e36eea158

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work in progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 19 Feb 2019 17:22:48 -0500
parents b3f8b26ee838
children 4ab5c63c13a3
comparison
equal deleted inserted replaced
1097:b3f8b26ee838 1098:469e36eea158
1121 1121
1122 def getYCoordAt(self, i): 1122 def getYCoordAt(self, i):
1123 return self.positions[1][i] 1123 return self.positions[1][i]
1124 1124
1125 def getLaneAt(self, i): 1125 def getLaneAt(self, i):
1126 return self.positions[2][i] 1126 return self.lanes[i]
1127 1127
1128 def addPositionSYL(self, s, y, lane = None): 1128 def addPositionSYL(self, s, y, lane = None):
1129 self.addPositionXY(s,y) 1129 self.addPositionXY(s,y)
1130 self.lanes.append(lane) 1130 self.lanes.append(lane)
1131 1131
1141 def differentiate(self, doubleLastPosition = False): 1141 def differentiate(self, doubleLastPosition = False):
1142 diff = CurvilinearTrajectory() 1142 diff = CurvilinearTrajectory()
1143 p1 = self[0] 1143 p1 = self[0]
1144 for i in range(1, self.length()): 1144 for i in range(1, self.length()):
1145 p2 = self[i] 1145 p2 = self[i]
1146 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1]) 1146 if p2[2] == p1[2]:
1147 laneChange = None
1148 else:
1149 laneChange = (p1[2], p2[2])
1150 diff.addPositionSYL(p2[0]-p1[0], p2[1]-p1[1], laneChange)
1147 p1=p2 1151 p1=p2
1148 if doubleLastPosition and self.length() > 1: 1152 if doubleLastPosition and self.length() > 1:
1149 diff.addPosition(diff[-1]) 1153 diff.addPosition(diff[-1])
1150 return diff 1154 return diff
1151 1155
1189 1193
1190 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown'], nObjects = None, initCurvilinear = False): 1194 def __init__(self, num = None, timeInterval = None, positions = None, velocities = None, geometry = None, userType = userType2Num['unknown'], nObjects = None, initCurvilinear = False):
1191 super(MovingObject, self).__init__(num, timeInterval) 1195 super(MovingObject, self).__init__(num, timeInterval)
1192 if initCurvilinear: 1196 if initCurvilinear:
1193 self.curvilinearPositions = positions 1197 self.curvilinearPositions = positions
1194 self.curvilinearVelocities = velocities 1198 self.curvilinearVelocities = velocities # third component is (previousAlignmentIdx, newAlignmentIdx) or None if no change
1195 else: 1199 else:
1196 self.positions = positions 1200 self.positions = positions
1197 self.velocities = velocities 1201 self.velocities = velocities
1198 self.geometry = geometry 1202 self.geometry = geometry
1199 self.userType = userType 1203 self.userType = userType
1251 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints])) 1255 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints]))
1252 1256
1253 def updatePositions(self): 1257 def updatePositions(self):
1254 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval()) 1258 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval())
1255 1259
1256 def updateCurvilinearPositions(self, method, changeOfAlignment, nextAlignment_idx, timeStep = None, instant = None, previousAlignmentId = None, maxSpeed = None, acceleration = None): 1260 def updateCurvilinearPositions(self, method, instant, timeStep, _nextAlignmentIdx = None, maxSpeed = None, acceleration = None):
1261 '''Update curvilinear position of user at new instant'''
1257 1262
1258 if method == 'newell': 1263 if method == 'newell':
1259 if self.curvilinearPositions is None: # vehicle without positions, all vehicles should have leader (?) 1264 if self.curvilinearPositions is None: # vehicle without positions, all vehicles should have leader (?)
1260 if self.leader.curvilinearPositions is not None and self.leader.curvilinearPositions.getSCoordAt(-1) > self.dn and len(self.leader.curvilinearPositions) >=2: 1265 if self.leader is None:
1261 leaderSpeed = self.leader.curvilinearVelocities.getSCoordAt(-1) 1266 s = (timeStep*instant-self.initialHeadway)*self.desiredSpeed
1262 instantAtX0 = self.tau + instant*timeStep - (self.leader.curvilinearPositions.getSCoordAt(-1)-self.d)/leaderSpeed 1267 self.timeInterval = TimeInterval(instant, instant)
1263 if instantAtX0 < obj.initialHeadway: #obj appears at instant initialHeadway at x=0 with desiredSpeed 1268 self.curvilinearPositions = CurvilinearTrajectory([s], [0.], [self.initialAlignmentIdx])
1264 instantAtX0 = obj.initialHeadway 1269 self.curvilinearVelocities = CurvilinearTrajectory()
1265 1270 self.instantAtX0 = self.initialHeadway
1266 firstInstant = int(np.ceil(instantAtX0/timeStep)) 1271 elif self.leader.curvilinearPositions is not None and self.leader.curvilinearPositions.getSCoordAt(-1) > self.d and len(self.leader.curvilinearPositions) >=2:
1272 firstInstantAfterD = self.leader.getLastInstant()
1273 while self.leader.existsAtInstant(firstInstantAfterD) and self.leader.getCurvilinearPositionAtInstant(firstInstantAfterD-1)[0] > self.d:# find first instant after d
1274 firstInstantAfterD -= 1 # if not recorded position before self.d, we extrapolate linearly from first known position
1275 leaderSpeed = self.leader.getCurvilinearVelocityAtInstant(firstInstantAfterD)[0]
1276 self.instantAtX0 = self.tau + instant*timeStep - (self.leader.getCurvilinearPositionAtInstant(firstInstantAfterD)[0]-self.d)/leaderSpeed # second part is the time at which leader is at self.d
1277 if self.instantAtX0 < self.initialHeadway: #obj appears at instant initialHeadway at x=0 with desiredSpeed
1278 self.instantAtX0 = self.initialHeadway
1279 if self.instantAtX0 is not None and instant >= self.instantAtX0:
1280 firstInstant = int(ceil(self.instantAtX0/timeStep))
1267 self.timeInterval = TimeInterval(firstInstant, firstInstant) 1281 self.timeInterval = TimeInterval(firstInstant, firstInstant)
1268 freeFlowCoord = (firstInstant*timeStep - instantAtX0)*self.desiredSpeed 1282 freeFlowCoord = (firstInstant*timeStep - self.instantAtX0)*self.desiredSpeed
1269 # constrainedCoord at firstInstant = xn-1(t = firstInstant*timeStep-self.tn)-self.dn 1283 # constrainedCoord at firstInstant = xn-1(t = firstInstant*timeStep-self.tau)-self.d
1270 t = firstInstant*timeStep-self.tn 1284 t = firstInstant*timeStep-self.tau
1271 i = int(floor(t/timeStep)) 1285 i = int(floor(t/timeStep))
1272 leaderSpeed = self.leader.getCurvilinearVelocityAtInstant(i)[0] 1286 leaderSpeed = self.leader.getCurvilinearVelocityAtInstant(i)[0]
1273 constrainedCoord = self.leader.getCurvilinearPositionAtInstant(i)[0]+leaderSpeed*(t-i*timeStep)-self.dn 1287 constrainedCoord = self.leader.getCurvilinearPositionAtInstant(i)[0]+leaderSpeed*(t-i*timeStep)-self.d
1274 obj.curvilinearPositions = moving.CurvilinearTrajectory([min(freeFlowCoord, constrainedCoord)], [0.], [nextAlignment_idx])# TODO verify initial alignment index 1288 self.curvilinearPositions = CurvilinearTrajectory([min(freeFlowCoord, constrainedCoord)], [0.], [self.initialAlignmentIdx])
1275 obj.curvilinearVelocities = moving.CurvilinearTrajectory() 1289 self.curvilinearVelocities = CurvilinearTrajectory()
1290 print(firstInstant+1, instant+1)
1276 for i in range(firstInstant+1, instant+1): 1291 for i in range(firstInstant+1, instant+1):
1277 freeFlowCoord = timeStep*self.desiredSpeed + self.curvilinearPositions.getSCoordAt(-1) 1292 s1 = self.curvilinearPositions.getSCoordAt(-1)
1278 #constrainedCoord = 1293 freeFlowCoord = s1 + timeStep*self.desiredSpeed
1279 1294 constrainedCoord = self.leader.interpolateCurvilinearPositions(i-self.tau/timeStep)[0]-self.d
1280 # if instant <= self.timeInterval[0] < instant + timeStep: 1295 s2 = min(freeFlowCoord, constrainedCoord)
1281 # # #si t < instant de creation du vehicule, la position vaut l'espacement dn entre les deux vehicules 1296 self.curvilinearPositions.addPositionSYL(s2, 0., self.initialAlignmentIdx)
1282 # if leaderVehicle is None: 1297 self.setLastInstant(i)
1283 # self.curvilinearPositions.addPositionSYL( 1298 print(i, self.timeInterval)
1284 # -self.dn, 1299 self.curvilinearVelocities.addPositionSYL(s2-s1, 0., None)
1285 # 0,
1286 # nextAlignment_idx)
1287 # else:
1288 # self.curvilinearPositions.addPositionSYL(
1289 # leaderVehicle.curvilinearPositions[0][0] - self.dn,
1290 # 0,
1291 # nextAlignment_idx)
1292 else: 1300 else:
1293 freeFlowCoord = [self.curvilinearPositions[-1][0]+self.desiredSpeed*timeStep, 0, nextAlignment_idx] 1301 if _nextAlignmentIdx is not None:
1302 laneChange = (self.curvilinearPositions.getLaneAt(-1), _nextAlignmentIdx)
1303 nextAlignmentIdx = _nextAlignmentIdx
1304 else:
1305 laneChange = None
1306 nextAlignmentIdx = self.curvilinearPositions.getLaneAt(-1)
1307 s1 = self.curvilinearPositions.getSCoordAt(-1)
1308 freeFlowCoord = s1 + self.desiredSpeed*timeStep
1294 if self.leader is None: 1309 if self.leader is None:
1295 self.curvilinearPositions.addPositionSYL(*freeFlowCoord) 1310 if self.getLastInstant() < instant:
1311 s2 = freeFlowCoord
1312 self.curvilinearPositions.addPositionSYL(freeFlowCoord, 0., nextAlignmentIdx)
1296 else: 1313 else:
1297 # if leader coord unknown at t-dn, no movement 1314 constrainedCoord = self.leader.interpolateCurvilinearPositions(instant-self.tau/timeStep)[0]-self.d
1298 if instant > self.reactionTime: 1315 s2 = min(freeFlowCoord, constrainedCoord)
1299 previousVehicleCurvilinearPositionAtPrecedentInstant = leaderVehicle.curvilinearPositions[-int(round(self.reactionTime))][0] # t-v.reactionTime 1316 self.curvilinearPositions.addPositionSYL(s2, 0., nextAlignmentIdx)
1300 else: 1317 self.setLastInstant(instant)
1301 previousVehicleCurvilinearPositionAtPrecedentInstant = \ 1318 self.curvilinearVelocities.addPositionSYL(s2-s1, 0., laneChange)
1302 leaderVehicle.curvilinearPositions[0][0]
1303
1304 self.curvilinearPositions.addPositionSYL(previousVehicleCurvilinearPositionAtPrecedentInstant - self.dn, 0, nextAlignment_idx)
1305
1306 #mise ajour des vitesses
1307 if changeOfAlignment:
1308 self.curvilinearVelocities.addPositionSYL((self.curvilinearPositions[-1][0]-self.curvilinearPositions[-2][0])/timeStep,
1309 (self.curvilinearPositions[-1][1]-self.curvilinearPositions[-2][1])/timeStep,
1310 (previousAlignmentId, nextAlignment_idx))
1311 else:
1312 self.curvilinearVelocities.addPositionSYL((self.curvilinearPositions[-1][0]-self.curvilinearPositions[-2][0])/timeStep,
1313 (self.curvilinearPositions[-1][1]-self.curvilinearPositions[-2][1])/timeStep,
1314 None)
1315 1319
1316 @staticmethod 1320 @staticmethod
1317 def concatenate(obj1, obj2, num = None, newFeatureNum = None, computePositions = False): 1321 def concatenate(obj1, obj2, num = None, newFeatureNum = None, computePositions = False):
1318 '''Concatenates two objects, whether overlapping temporally or not 1322 '''Concatenates two objects, whether overlapping temporally or not
1319 1323