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comparison trafficintelligence/events.py @ 1252:fe35473acee3

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adding method to compute PET using polygon for the outline of a vehicle (bird eye view of the vehicle)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 22 Mar 2024 14:33:25 -0400
parents 0e5d37b0b9ff
children 56d0195d043e
comparison
equal deleted inserted replaced
1251:2b1c8fe8f7e4 1252:fe35473acee3
275 for i, cz in self.crossingZones.items(): 275 for i, cz in self.crossingZones.items():
276 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz) 276 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
277 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs, mostSevereIsMax=False)) 277 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs, mostSevereIsMax=False))
278 # TODO add probability of collision, and probability of successful evasive action 278 # TODO add probability of collision, and probability of successful evasive action
279 279
280 def computePET(self, collisionDistanceThreshold): 280 def computePET(self, collisionDistanceThreshold, computePetWithBoundingPoly):
281 pet, t1, t2= moving.MovingObject.computePET(self.roadUser1, self.roadUser2, collisionDistanceThreshold) 281 'Warning: when computing PET from interactions, there could be PETs between objects that do not coexist and therefore are not considered interactions'
282 pet, t1, t2= moving.MovingObject.computePET(self.roadUser1, self.roadUser2, collisionDistanceThreshold, computePetWithBoundingPoly)
282 if pet is not None: 283 if pet is not None:
283 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[10], {min(t1, t2): pet}, mostSevereIsMax = False)) 284 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[10], {min(t1, t2): pet}, mostSevereIsMax = False))
284 285
285 def setCollision(self, collision): 286 def setCollision(self, collision):
286 '''indicates if it is a collision: argument should be boolean''' 287 '''indicates if it is a collision: argument should be boolean'''
323 if i<len(interactions): 324 if i<len(interactions):
324 return interactions[i] 325 return interactions[i]
325 else: 326 else:
326 return None 327 return None
327 328
328 def computeIndicators(interactions, computeMotionPrediction, computePET, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None): 329 def computeIndicators(interactions, computeMotionPrediction, computePET, predictionParameters, collisionDistanceThreshold, computePetWithBoundingPoly, timeHorizon, computeCZ = False, debug = False, timeInterval = None):
329 for inter in interactions: 330 for inter in interactions:
330 print('processing interaction {}'.format(inter.getNum())) # logging.debug('processing interaction {}'.format(inter.getNum())) 331 print('processing interaction {}'.format(inter.getNum())) # logging.debug('processing interaction {}'.format(inter.getNum()))
331 inter.computeIndicators() 332 inter.computeIndicators()
332 if computeMotionPrediction: 333 if computeMotionPrediction:
333 inter.computeCrossingsCollisions(predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval) 334 inter.computeCrossingsCollisions(predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval)
334 if computePET: 335 if computePET:
335 inter.computePET(collisionDistanceThreshold) 336 inter.computePET(collisionDistanceThreshold, computePetWithBoundingPoly)
336 return interactions 337 return interactions
337 338
338 def aggregateSafetyPoints(interactions, pointType = 'collision'): 339 def aggregateSafetyPoints(interactions, pointType = 'collision'):
339 '''Put all collision points or crossing zones in a list for display''' 340 '''Put all collision points or crossing zones in a list for display'''
340 allPoints = [] 341 allPoints = []