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comparison python/prediction.py @ 359:619ae9a9a788

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implemented prediction method at constant velocity with direct intersection computation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 11 Jul 2013 02:17:12 -0400
parents c41ff9f3c263
children 91679eb2ff2c
comparison
equal deleted inserted replaced
358:c41ff9f3c263 359:619ae9a9a788
61 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)} 61 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
62 62
63 def getControl(self): 63 def getControl(self):
64 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution()) 64 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
65 65
66 class SafetyPoint(moving.Point):
67 '''Can represent a collision point or crossing zone
68 with respective safety indicator, TTC or pPET'''
69 def __init__(self, p, probability = 1., indicator = -1):
70 self.x = p.x
71 self.y = p.y
72 self.probability = probability
73 self.indicator = indicator
74
75 def __str__(self):
76 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
77
78 @staticmethod
79 def save(out, points, predictionInstant, objNum1, objNum2):
80 for p in points:
81 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
82
83 @staticmethod
84 def computeExpectedIndicator(points):
85 from numpy import sum
86 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
87
66 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon): 88 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
67 '''Computes the first instant at which two predicted trajectories are within some distance threshold''' 89 '''Computes the first instant at which two predicted trajectories are within some distance threshold'''
68 t = 1 90 t = 1
69 p1 = predictedTrajectory1.predictPosition(t) 91 p1 = predictedTrajectory1.predictPosition(t)
70 p2 = predictedTrajectory2.predictPosition(t) 92 p2 = predictedTrajectory2.predictPosition(t)
84 106
85 def generatePredictedTrajectories(self, obj, instant): 107 def generatePredictedTrajectories(self, obj, instant):
86 return [] 108 return []
87 109
88 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False): 110 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
89 '''returns the lists of collision points and crossing zones 111 '''returns the lists of collision points and crossing zones'''
90
91 Check: Predicting all the points together, as if they represent the whole vehicle'''
92 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, currentInstant) 112 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, currentInstant)
93 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, currentInstant) 113 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, currentInstant)
94 114
95 collisionPoints = [] 115 collisionPoints = []
96 crossingZones = [] 116 crossingZones = []
286 moving.NormAngle(self.accelerationDistribution(), 306 moving.NormAngle(self.accelerationDistribution(),
287 self.steeringDistribution()), 307 self.steeringDistribution()),
288 maxSpeed = self.maxSpeed)) 308 maxSpeed = self.maxSpeed))
289 return predictedTrajectories 309 return predictedTrajectories
290 310
291 class SafetyPoint(moving.Point): 311
292 '''Can represent a collision point or crossing zone 312 class CVDirectPredictionParameters(PredictionParameters):
293 with respective safety indicator, TTC or pPET''' 313 '''Prediction parameters of prediction at constant velocity
294 def __init__(self, p, probability = 1., indicator = -1): 314 using direct computation of the intersecting point'''
295 self.x = p.x 315
296 self.y = p.y 316 def __init__(self, maxSpeed):
297 self.probability = probability 317 PredictionParameters.__init__(self, 'constant velocity (direct computation)', maxSpeed)
298 self.indicator = indicator 318
299 319 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
300 def __str__(self): 320 collisionPoints = []
301 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator) 321 crossingZones = []
302 322
303 @staticmethod 323 p1 = obj1.getPositionAtInstant(currentInstant)
304 def save(out, points, predictionInstant, objNum1, objNum2): 324 p2 = obj2.getPositionAtInstant(currentInstant)
305 for p in points: 325 if (p1-p2).norm2() <= collisionDistanceThreshold:
306 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p)) 326 collisionPoints = [SafetyPoint((p1+p1).multiply(0.5), 1., 0.)]
307 327 else:
308 @staticmethod 328 v1 = obj1.getVelocityAtInstant(currentInstant)
309 def computeExpectedIndicator(points): 329 v2 = obj2.getVelocityAtInstant(currentInstant)
310 from numpy import sum 330 intersection = moving.intersection(p1, p2, v1, v2)
311 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points]) 331
332 if intersection != None:
333 dp1 = intersection-p1
334 dp2 = intersection-p2
335 if moving.Point.dot(dp1, v1) > 0 and moving.Point.dot(dp2, v2) > 0: # if the road users are moving towards the intersection
336 dist1 = dp1.norm2()
337 dist2 = dp2.norm2()
338 s1 = v1.norm2()
339 s2 = v2.norm2()
340 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
341 timeInterval1 = moving.TimeInterval(max(0,dist1-halfCollisionDistanceThreshold)/s1, (dist1+halfCollisionDistanceThreshold)/s1)
342 timeInterval2 = moving.TimeInterval(max(0,dist2-halfCollisionDistanceThreshold)/s2, (dist2+halfCollisionDistanceThreshold)/s2)
343 collisionTimeInterval = moving.TimeInterval.intersection(timeInterval1, timeInterval2)
344 if not collisionTimeInterval.empty():
345 collisionPoints = [SafetyPoint(intersection, 1., collisionTimeInterval.center())]
346 else:
347 crossingZones = [SafetyPoint(intersection, 1., timeInterval1.distance(timeInterval2))]
348
349 if debug and intersection!= None:
350 from matplotlib.pyplot import plot, figure, axis, title
351 figure()
352 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r')
353 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b')
354 intersection.draw()
355 obj1.draw('r')
356 obj2.draw('b')
357 title('instant {0}'.format(currentInstant))
358 axis('equal')
359
360 return collisionPoints, crossingZones
361
362
312 363
313 364
314 #### 365 ####
315 # Other Methods 366 # Other Methods
316 #### 367 ####