Mercurial Hosting > traffic-intelligence

comparison trafficintelligence/events.py @ 1148:eb88d2984637

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corrected interaction classification
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 12 May 2020 01:16:54 -0400
parents 8c0ec7e1eb8e
children 392db62ea1da
comparison
equal deleted inserted replaced
1147:8c0ec7e1eb8e 1148:eb88d2984637
219 minDistances[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) 219 minDistances[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant)
220 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistances, mostSevereIsMax = False)) 220 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistances, mostSevereIsMax = False))
221 221
222 def categorize(self, velocityAngleTolerance, parallelAngleTolerance): 222 def categorize(self, velocityAngleTolerance, parallelAngleTolerance):
223 '''Computes the interaction category by instant 223 '''Computes the interaction category by instant
224 velocityAngleTolerance and parallelAngleTolerance in radian''' 224 velocityAngleTolerance and parallelAngleTolerance in radian
225 velocityAngleTolerance: indicates the angle threshold for rear and head on (180-velocityAngleTolerance), as well as the maximum collision course angle for head on
226 velocityAngleTolerance: indicates the angle between velocity vector (average for parallel) and position vector'''
225 parallelAngleToleranceCosine = np.cos(parallelAngleTolerance) 227 parallelAngleToleranceCosine = np.cos(parallelAngleTolerance)
226 self.categories = {} 228 self.categories = {}
227 collisionCourseDotProducts = self.getIndicator(Interaction.indicatorNames[0]) 229 collisionCourseDotProducts = self.getIndicator(Interaction.indicatorNames[0])
230 collisionCourseAngles = self.getIndicator(Interaction.indicatorNames[1])
228 velocityAngles = self.getIndicator(Interaction.indicatorNames[4]) 231 velocityAngles = self.getIndicator(Interaction.indicatorNames[4])
229 for instant in self.timeInterval: 232 for instant in self.timeInterval:
230 if velocityAngles[instant] < velocityAngleTolerance: # parallel or rear end 233 if velocityAngles[instant] < velocityAngleTolerance: # parallel or rear end
231 midVelocity = self.roadUser1.getVelocityAtInstant(instant) + self.roadUser2.getVelocityAtInstant(instant) 234 midVelocity = self.roadUser1.getVelocityAtInstant(instant) + self.roadUser2.getVelocityAtInstant(instant)
232 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant) 235 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant)
233 if moving.Point.dot(midVelocity, deltap) < parallelAngleToleranceCosine: 236 if moving.Point.dot(midVelocity, deltap) < parallelAngleToleranceCosine:
234 self.categories[instant] = Interaction.categories["parallel"] 237 self.categories[instant] = Interaction.categories["parallel"]
235 else: 238 else:
236 self.categories[instant] = Interaction.categories["rearend"] 239 self.categories[instant] = Interaction.categories["rearend"]
237 elif velocityAngles[instant] > np.pi - velocityAngleTolerance: # head on 240 elif velocityAngles[instant] > np.pi - velocityAngleTolerance and collisionCourseAngles[instant] < velocityAngleTolerance: # head on
238 if collisionCourseDotProducts[instant] > 0: 241 self.categories[instant] = Interaction.categories["headon"]
239 self.categories[instant] = Interaction.categories["headon"] 242 elif collisionCourseDotProducts[instant] > 0:
240 else: 243 self.categories[instant] = Interaction.categories["side"]
241 if collisionCourseDotProducts[instant] > 0:
242 self.categories[instant] = Interaction.categories["side"]
243 244
244 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None): 245 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
245 '''Computes all crossing and collision points at each common instant for two road users. ''' 246 '''Computes all crossing and collision points at each common instant for two road users. '''
246 TTCs = {} 247 TTCs = {}
247 collisionProbabilities = {} 248 collisionProbabilities = {}