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comparison python/events.py @ 619:dc2d0a0d7fe1

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merged code from Mohamed Gomaa Mohamed for the use of points of interests in mation pattern learning and motion prediction (TRB 2015)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 10 Dec 2014 15:27:08 -0500
parents 306db0f3c7a2
children 82e9f78a4714
comparison
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596:04a8304e13f0 619:dc2d0a0d7fe1
7 7
8 import multiprocessing 8 import multiprocessing
9 import itertools 9 import itertools
10 10
11 import moving, prediction, indicators, utils 11 import moving, prediction, indicators, utils
12
13 __metaclass__ = type 12 __metaclass__ = type
13
14 def findRoute(prototypes,objects,i,j,noiseEntryNums,noiseExitNums,minSimilarity= 0.3, spatialThreshold=1.0, delta=180):
15 if i[0] not in noiseEntryNums:
16 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if i[0]==x[0]]
17 elif i[1] not in noiseExitNums:
18 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if i[1]==x[1]]
19 else:
20 prototypesRoutes=[x for x in sorted(prototypes.keys())]
21 routeSim={}
22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
23 for y in prototypesRoutes:
24 if y in prototypes.keys():
25 prototypesIDs=prototypes[y]
26 similarity=[]
27 for x in prototypesIDs:
28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions)
29 similarity.append(s)
30 routeSim[y]=max(similarity)
31 route=max(routeSim, key=routeSim.get)
32 if routeSim[route]>=minSimilarity:
33 return route
34 else:
35 return i
36
37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
38 route=(obj.startRouteID,obj.endRouteID)
39 if useDestination:
40 if route not in prototypes.keys():
41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
42 return route
14 43
15 class Interaction(moving.STObject): 44 class Interaction(moving.STObject):
16 '''Class for an interaction between two road users 45 '''Class for an interaction between two road users
17 or a road user and an obstacle 46 or a road user and an obstacle
18 47
122 minDistance={} 151 minDistance={}
123 for instant in self.timeInterval: 152 for instant in self.timeInterval:
124 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) 153 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
125 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance)) 154 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance))
126 155
127 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1): 156 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,usePrototypes=True,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
128 '''Computes all crossing and collision points at each common instant for two road users. ''' 157 '''Computes all crossing and collision points at each common instant for two road users. '''
129 self.collisionPoints={} 158 self.collisionPoints={}
130 self.crossingZones={} 159 self.crossingZones={}
131 TTCs = {} 160 TTCs = {}
161 if usePrototypes:
162 route1= getRoute(self.roadUser1,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
163 route2= getRoute(self.roadUser2,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination)
132 164
133 if timeInterval: 165 if timeInterval:
134 commonTimeInterval = timeInterval 166 commonTimeInterval = timeInterval
135 else: 167 else:
136 commonTimeInterval = self.timeInterval 168 commonTimeInterval = self.timeInterval
137 self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses) 169 self.collisionPoints, self.crossingZones = prediction.computeCrossingsCollisions(predictionParameters, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
138 for i, cp in self.collisionPoints.iteritems(): 170 for i, cp in self.collisionPoints.iteritems():
139 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp) 171 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cp)
140 # add probability of collision, and probability of successful evasive action 172 # add probability of collision, and probability of successful evasive action
141 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs)) 173 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs))
142 174
143 if computeCZ: 175 if computeCZ:
144 pPETs = {} 176 pPETs = {}
145 for i in list(commonTimeInterval)[:-1]: 177 for i, cz in self.crossingZones.iteritems():
146 if len(self.crossingZones[i]) > 0: 178 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
147 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i])
148 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) 179 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs))
149 180
150 def addVideoFilename(self,videoFilename): 181 def addVideoFilename(self,videoFilename):
151 self.videoFilename= videoFilename 182 self.videoFilename= videoFilename
152 183
153 def addInteractionType(self,interactionType): 184 def addInteractionType(self,interactionType):
154 ''' interaction types: conflict or collision if they are known''' 185 ''' interaction types: conflict or collision if they are known'''
155 self.interactionType= interactionType 186 self.interactionType= interactionType
156 187