Mercurial Hosting > traffic-intelligence
view python/extrapolation.py @ 244:5027c174ab90
moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 17 Jul 2012 00:15:42 -0400 |
parents | e0988a8ace0c |
children | bd8ab323c198 |
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#! /usr/bin/env python '''Library for moving object extrapolation hypotheses''' import moving class ExtrapolatedTrajectory: '''Class for extrapolated trajectories with lazy evaluation if the predicted position has not been already computed, compute it it should also have a probability''' def predictPosition(self, nTimeSteps): return None class ExtrapolatedTrajectoryConstant(ExtrapolatedTrajectory): '''Extrapolated trajectory at constant speed or acceleration TODO add limits if acceleration TODO generalize by passing a series of velocities/accelerations''' def __init__(self, initialPosition, initialVelocity, initialAccleration = 0, probability = 1): self.initialPosition = initialPosition self.initialVelocity = initialVelocity self.initialAccleration = initialAccleration self.probability = probability self.predictedPositions = {} self.predictedVelocities = {} def predictPosition(self, nTimeSteps): if not nTimeSteps in self.predictedPositions.keys(): self.predictedPositions[nTimeSteps] = moving.Point.predictPosition(nTimeSteps, self.initialPosition, self.initialVelocity, self.initialAcceleration) return self.predictedPositions[nTimeSteps] # Default values: to remove because we cannot tweak that from a script where the value may be different FPS= 25 # No. of frame per second (FPS) vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec deltaT= FPS*5 # extrapolatation time Horizon = 5 second def motion (position, velocity, acceleration): ''' extrapolation hypothesis: constant acceleration''' from math import atan2,cos,sin vInit= velocity vInitial= velocity.norm2() theta= atan2(velocity.y,velocity.x) vFinal= vInitial+acceleration if acceleration<= 0: v= max(0,vFinal) velocity= moving.Point(v* cos(theta),v* sin(theta)) position= position+ (velocity+vInit). multiply(0.5) else: v= min(vLimit,vFinal) velocity= moving.Point(v* cos(theta),v* sin(theta)) position= position+ (velocity+vInit). multiply(0.5) return(position,velocity) def motionPET (position, velocity, acceleration, deltaT): ''' extrapolation hypothesis: constant acceleration for calculating pPET ''' from math import atan2,cos,sin,fabs vInit= velocity vInitial= velocity.norm2() theta= atan2(velocity.y,velocity.x) vFinal= vInitial+acceleration * deltaT if acceleration< 0: if vFinal> 0: velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta)) position= position+ (vInit+ velocity). multiply(0.5*deltaT) else: T= fabs(vInitial/acceleration) position= position + vInit. multiply(0.5*T) elif acceleration> 0 : if vFinal<= vLimit: velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta)) position= position+ (vInit+ velocity). multiply(0.5*deltaT) else: time1= fabs((vLimit-vInitial)/acceleration) velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta)) position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1)) elif acceleration == 0: position= position + velocity. multiply(deltaT) return position def timePET (position, velocity, acceleration, intersectedPoint ): ''' extrapolation hypothesis: constant acceleration for calculating pPET ''' from math import atan2,cos,sin,fabs vInit= velocity vInitial= velocity.norm2() theta= atan2(velocity.y,velocity.x) vFinal= vInitial+acceleration * deltaT if acceleration< 0: if vFinal> 0: velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta)) time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x))) else: time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x))) elif acceleration> 0 : if vFinal<= vLimit: velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta)) time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x))) else: time1= fabs((vLimit-vInitial)/acceleration) velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta)) time2= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x))) if time2<=time1: time= time2 else: position2= (position+ (velocity+vInit). multiply(0.5*time1)) time= time1+fabs((intersectedPoint.x-position2.x)/( velocity.x)) elif acceleration == 0: time= fabs((intersectedPoint.x-position.x)/(velocity.x)) return time def motionSteering (position, velocity, deltaTheta, deltaT ): ''' extrapolation hypothesis: steering with deltaTheta''' from math import atan2,cos,sin vInitial= velocity.norm2() theta= atan2(velocity.y,velocity.x) newTheta= theta + deltaTheta velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta)) position= position+ (velocity). multiply(deltaT) return position def MonteCarlo(movingObject1,movingObject2, instant): ''' Monte Carlo Simulation : estimate the probability of collision''' from random import uniform from math import pow, sqrt, sin, cos,atan2 N=1000 ProbOfCollision = 0 for n in range (1, N): # acceleration limit acc1 = uniform(-0.040444,0) acc2 = uniform(-0.040444,0) p1= movingObject1.getPositionAtInstant(instant) p2= movingObject2.getPositionAtInstant(instant) v1= movingObject1.getVelocityAtInstant(instant) v2= movingObject2.getVelocityAtInstant(instant) distance= (p1-p2).norm2() distanceThreshold= 1.8 t=1 while distance > distanceThreshold and t <= deltaT: # Extrapolation position (p1,v1) = motion(p1,v1,acc1) (p2,v2) = motion(p2,v2,acc2) distance= (p1-p2).norm2() if distance <=distanceThreshold: ProbOfCollision= ProbOfCollision+1 t+=1 POC= float(ProbOfCollision)/N return POC def velocitySteering(velocity,steering): from math import atan2,cos,sin vInitial= velocity.norm2() theta= atan2(velocity.y,velocity.x) newTheta= theta + steering v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta)) return v def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2): ''' Monte Carlo Simulation : estimate the probability of collision in case of steering''' from random import uniform from math import pow, sqrt, sin, cos,atan2 N=1000 L= 2.4 ProbOfCollision = 0 for n in range (1, N): # acceleration limit acc1 = uniform(-0.040444,0) acc2 = uniform(-0.040444,0) p1= movingObject1.getPositionAtInstant(instant) p2= movingObject2.getPositionAtInstant(instant) vInit1= movingObject1.getVelocityAtInstant(instant) v1= velocitySteering (vInit1,steering1) vInit2= movingObject2.getVelocityAtInstant(instant) v2= velocitySteering (vInit2,steering2) distance= (p1-p2).norm2() distanceThreshold= 1.8 t=1 while distance > distanceThreshold and t <= deltaT: # Extrapolation position (p1,v1) = motion(p1,v1,acc1) (p2,v2) = motion(p2,v2,acc2) distance= (p1-p2).norm2() if distance <=distanceThreshold: ProbOfCollision= ProbOfCollision+1 t+=1 POC= float(ProbOfCollision)/N return POC