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comparison scripts/safety-analysis.py @ 338:f3aceea2afbb

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first safety analysis script
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 17 Jun 2013 16:26:11 -0400
parents dc2e68e936c7
children 74e437ab5f11
comparison
equal deleted inserted replaced
337:dc2e68e936c7 338:f3aceea2afbb
1 #! /usr/bin/env python 1 #! /usr/bin/env python
2
3 import utils, storage, prediction, events
2 4
3 import sys, argparse 5 import sys, argparse
4 6
5 import matplotlib.pyplot as plt 7 import matplotlib.pyplot as plt
6 import numpy as np 8 import numpy as np
7 9
8 from ConfigParser import ConfigParser 10 from ConfigParser import ConfigParser
9 11
10 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') 12 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
13 parser.add_argument('configFilename', help = 'name of the configuration file')
14 # parser.add_argument('-c', help = 'name of the configuration file') #
11 args = parser.parse_args() 15 args = parser.parse_args()
12 print(args) 16 print(args)
13 # TODO work on the way to indicate an interaction definition 17 # TODO work on the way to indicate an interaction definition
14 18
15 if False:#len(args)>0: # consider there is a configuration file 19 # if False: # test if there is a configuration file?
16 params = utils.TrackingParameters() 20 params = utils.TrackingParameters()
17 params.loadConfigFile(args[0]) 21 params.loadConfigFile(args.configFilename)
22
23 # configuration parameters # TODO from command line
24 frameRate = 15 # frame per second
25 maxSpeed = 90/3.6/frameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways
26 timeHorizon= frameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
27 collisionDistanceThreshold= 1.8 # m
28 computeCZ = True
29
30 # parameters for prediction methods
31 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(maxSpeed)
32
33 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(maxSpeed, 100, 2./frameRate**2, # m/s2
34 0.2/frameRate) # rad/s
35
36 featurePredictionParameters = prediction.PointSetPredictionParameters(maxSpeed)
37
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)
42
43 featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(maxSpeed, 10, -9.1/frameRate**2, # m/s2
44 4.3/frameRate**2, # m/s2
45 0.5/frameRate, # rad/s
46 True)
18 47
19 48
20 49
50 objects = storage.loadTrajectoriesFromSqlite(params.databaseFilename,'object')
51 # features = storage.loadTrajectoriesFromSqlite('amherst-10.sqlite','feature') # needed if normal adaptation
52
53 interactions = events.createInteractions(objects)
54 for inter in interactions[:2]:
55 inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ)
56
57 plt.figure()
58 plt.axis('equal')
59 for inter in interactions[:2]:
60 for collisionPoints in inter.collisionPoints.values():
61 for cp in collisionPoints:
62 plot([cp.x], [cp.y], 'x')
21 63
22 # for the demo, output automatically a map 64 # for the demo, output automatically a map
23 65 # possibility to process longitudinal coords only
24 66