Mercurial Hosting > traffic-intelligence
diff trafficintelligence/prediction.py @ 1269:ca70a79688ae
adding a speed threshold to avoid computing TTC at very low speeds
| author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
|---|---|
| date | Wed, 05 Jun 2024 10:12:43 -0400 |
| parents | 1b472cddf9b1 |
| children |
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--- a/trafficintelligence/prediction.py Fri May 31 16:52:51 2024 -0400 +++ b/trafficintelligence/prediction.py Wed Jun 05 10:12:43 2024 -0400 @@ -355,8 +355,9 @@ return collisionPoints, crossingZones - def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None):#, nProcesses = 1): - '''Computes all crossing and collision points at each common instant for two road users. ''' + def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, speedThreshold = 0.): + '''Computes all crossing and collision points at each common instant for two road users. + No movement prediction below a certain speedThreshold for both objects''' collisionPoints = {} if computeCZ: crossingZones = {} @@ -366,13 +367,14 @@ commonTimeInterval = timeInterval else: commonTimeInterval = obj1.commonTimeInterval(obj2) - #if nProcesses == 1: - for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors - cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug) - if len(cp) != 0: - collisionPoints[i] = cp - if computeCZ and len(cz) != 0: - crossingZones[i] = cz + speedThreshold2 = max(0,speedThreshold)**2 + for t in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors + if obj1.getVelocityAtInstant(t).norm2Squared() > speedThreshold2 and obj2.getVelocityAtInstant(t).norm2Squared() > speedThreshold2: + cp, cz = self.computeCrossingsCollisionsAtInstant(t, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug) + if len(cp) != 0: + collisionPoints[t] = cp + if computeCZ and len(cz) != 0: + crossingZones[t] = cz return collisionPoints, crossingZones def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None):