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comparison trafficintelligence/moving.py @ 1112:956a66096e91

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removed code now available in simulation project, and issue with deprecated find function in matplotlib
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 05 Jun 2019 13:12:10 -0400
parents 345cd9cd62d8
children 7135b5eaa6b4
comparison
equal deleted inserted replaced
1111:345cd9cd62d8 1112:956a66096e91
1290 positions = Trajectory.generate(p, v, nPoints) 1290 positions = Trajectory.generate(p, v, nPoints)
1291 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints])) 1291 return MovingObject(num = num, timeInterval = timeInterval, positions = positions, velocities = Trajectory([[v.x]*nPoints, [v.y]*nPoints]))
1292 1292
1293 def updatePositions(self): 1293 def updatePositions(self):
1294 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval()) 1294 inter, self.positions, self.velocities = MovingObject.aggregateTrajectories(self.features, self.getTimeInterval())
1295
1296 def addNewellAttributes(self, desiredSpeed, tau, d, initialCumulatedHeadway, initialAlignmentIdx):
1297 '''adds attributes necessary for Newell car following model
1298 using curvilinear trajectories'''
1299 # Newell model parameters
1300 self.desiredSpeed = desiredSpeed
1301 self.tau = tau
1302 self.d = d
1303 self.leader = None
1304 # other attributes necessary for computation
1305 self.initialCumulatedHeadway = initialCumulatedHeadway
1306 self.initialAlignmentIdx = initialAlignmentIdx
1307 self.timeAtS0 = None # time at which the vehicle's position is s=0 on the alignment
1308
1309 def updateCurvilinearPositions(self, method, instant, timeStep, _nextAlignmentIdx = None, maxSpeed = None, acceleration = None):
1310 '''Update curvilinear position of user at new instant'''
1311 # TODO changer nextAlignmentIdx pour l'alignment en cours, reflechir pour des control devices
1312
1313 if method == 'newell':
1314 if self.curvilinearPositions is None: # vehicle without positions
1315 if self.timeAtS0 is None:
1316 if self.leader is None:
1317 self.timeAtS0 = self.initialCumulatedHeadway
1318 elif self.leader.curvilinearPositions is not None and self.leader.curvilinearPositions.getSCoordAt(-1) > self.d and len(self.leader.curvilinearPositions) >=2:
1319 firstInstantAfterD = self.leader.getLastInstant()
1320 while self.leader.existsAtInstant(firstInstantAfterD) and self.leader.getCurvilinearPositionAtInstant(firstInstantAfterD-1)[0] > self.d:# find first instant after d
1321 firstInstantAfterD -= 1 # if not recorded position before self.d, we extrapolate linearly from first known position
1322 leaderSpeed = self.leader.getCurvilinearVelocityAtInstant(firstInstantAfterD-1)[0]
1323 self.timeAtS0 = self.tau + firstInstantAfterD*timeStep - (self.leader.getCurvilinearPositionAtInstant(firstInstantAfterD)[0]-self.d)*timeStep/leaderSpeed # second part is the time at which leader is at self.d
1324 if self.timeAtS0 < self.initialCumulatedHeadway: #obj appears at instant initialCumulatedHeadway at x=0 with desiredSpeed
1325 self.timeAtS0 = self.initialCumulatedHeadway
1326 elif instant*timeStep > self.timeAtS0:
1327 #firstInstant = int(ceil(self.timeAtS0/timeStep))# this first instant is instant by definition
1328 leaderInstant = instant-self.tau/timeStep
1329 if self.leader is None:
1330 s = (timeStep*instant-self.timeAtS0)*self.desiredSpeed
1331 self.timeInterval = TimeInterval(instant, instant)
1332 self.curvilinearPositions = CurvilinearTrajectory([s], [0.], [self.initialAlignmentIdx])
1333 self.curvilinearVelocities = CurvilinearTrajectory()
1334 elif self.leader.existsAtInstant(leaderInstant):
1335 self.timeInterval = TimeInterval(instant, instant)
1336 freeFlowCoord = (instant*timeStep - self.timeAtS0)*self.desiredSpeed
1337 # constrainedCoord at instant = xn-1(t = instant*timeStep-self.tau)-self.d
1338 constrainedCoord = self.leader.interpolateCurvilinearPositions(leaderInstant)[0]-self.d
1339 self.curvilinearPositions = CurvilinearTrajectory([min(freeFlowCoord, constrainedCoord)], [0.], [self.initialAlignmentIdx])
1340 self.curvilinearVelocities = CurvilinearTrajectory()
1341 else:
1342 if _nextAlignmentIdx is not None:
1343 laneChange = (self.curvilinearPositions.getLaneAt(-1), _nextAlignmentIdx)
1344 nextAlignmentIdx = _nextAlignmentIdx
1345 else:
1346 laneChange = None
1347 nextAlignmentIdx = self.curvilinearPositions.getLaneAt(-1)
1348 s1 = self.curvilinearPositions.getSCoordAt(-1)
1349 freeFlowCoord = s1 + self.desiredSpeed*timeStep
1350 if self.leader is None:
1351 if self.getLastInstant() < instant:
1352 s2 = freeFlowCoord
1353 self.curvilinearPositions.addPositionSYL(freeFlowCoord, 0., nextAlignmentIdx)
1354 else:
1355 constrainedCoord = self.leader.interpolateCurvilinearPositions(instant-self.tau/timeStep)[0]-self.d
1356 s2 = min(freeFlowCoord, constrainedCoord)
1357 self.curvilinearPositions.addPositionSYL(s2, 0., nextAlignmentIdx)
1358 self.setLastInstant(instant)
1359 self.curvilinearVelocities.addPositionSYL(s2-s1, 0., laneChange)
1360 1295
1361 @staticmethod 1296 @staticmethod
1362 def concatenate(obj1, obj2, num = None, newFeatureNum = None, computePositions = False): 1297 def concatenate(obj1, obj2, num = None, newFeatureNum = None, computePositions = False):
1363 '''Concatenates two objects, whether overlapping temporally or not 1298 '''Concatenates two objects, whether overlapping temporally or not
1364 1299