Mercurial Hosting > traffic-intelligence

comparison scripts/safety-analysis.py @ 350:7e9ad2d9d79c

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added new parameters in safety analysis script
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 27 Jun 2013 00:18:39 -0400
parents c64a4f889b97
children 891858351bcb
comparison
equal deleted inserted replaced
349:e3f910c26fae 350:7e9ad2d9d79c
6 6
7 import matplotlib.pyplot as plt 7 import matplotlib.pyplot as plt
8 import numpy as np 8 import numpy as np
9 9
10 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') 10 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
11 parser.add_argument('configFilename', help = 'name of the configuration file') 11 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
12 #parser.add_argument('--maxspeed', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int) 12 #parser.add_argument('--maxspeed', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
13 #parser.add_argument('--time-horizon', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int) 13 #parser.add_argument('--time-horizon', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
14 args = parser.parse_args() 14 args = parser.parse_args()
15 15
16 # TODO work on the way to indicate an interaction definition 16 # TODO work on the way to indicate an interaction definition
17 17
18 # if False: # test if there is a configuration file? 18 # if False: # test if there is a configuration file?
19 params = utils.TrackingParameters() 19 params = utils.TrackingParameters()
20 params.loadConfigFile(args.configFilename) 20 params.loadConfigFile(args.configFilename)
21 21
22 # configuration parameters # TODO from command line 22 # parameters for prediction methods
23 maxSpeed = args.maxSpeed/3.6/params.videoFrameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways 23 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed)
24 timeHorizon= params.videoFrameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
25 collisionDistanceThreshold= 1.8 # m
26 computeCZ = False
27 24
28 # display = False 25 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed,
26 params.nPredictedTrajectories,
27 params.maxAcceleration,
28 params.maxSteering)
29 29
30 # parameters for prediction methods 30 featurePredictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories)
31 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(maxSpeed)
32 31
33 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(maxSpeed, 100, 2./frameRate**2, # m/s2 32 evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed,
34 0.2/frameRate) # rad/s 33 params.nPredictedTrajectories,
35 34 params.minAcceleration,
36 featurePredictionParameters = prediction.PointSetPredictionParameters(maxSpeed) 35 params.maxAcceleration,
37 36 params.maxSteering,
38 evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(maxSpeed, 100, -9.1/frameRate**2, # m/s2
39 4.3/frameRate**2, # m/s2
40 0.5/frameRate, # rad/s
41 False) 37 False)
42 38
43 featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(maxSpeed, 10, -9.1/frameRate**2, # m/s2 39 featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed,
44 4.3/frameRate**2, # m/s2 40 params.nPredictedTrajectories,
45 0.5/frameRate, # rad/s 41 params.minAcceleration,
42 params.maxAcceleration,
43 params.maxSteering,
46 True) 44 True)
47 45
48 46
49 47
50 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object') 48 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object')
51 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation 49 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation
52 50
53 interactions = events.createInteractions(objects) 51 interactions = events.createInteractions(objects)
54 for inter in interactions: 52 for inter in interactions:
55 inter.computeIndicators() 53 inter.computeIndicators()
56 inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ) 54 inter.computeCrossingsCollisions(constantVelocityPredictionParameters, params.collisionDistance, params.predictionTimeHorizon, params.crossingZones)
57 55
58 storage.saveIndicators(params.databaseFilename, interactions) 56 storage.saveIndicators(params.databaseFilename, interactions)
59 57
60 # if display: 58 # if display:
61 # plt.figure() 59 # plt.figure()