Mercurial > hg > nsaunier > traffic-intelligence

annotate python/extrapolation.py @ 255:13ec22bec5d4

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corrected typos and bugs and added a test
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 23 Jul 2012 23:07:19 -0400
parents 59f547aebaac
children dc1faa7287bd
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1 #! /usr/bin/env python
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2 '''Library for moving object extrapolation hypotheses'''
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3
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4 import moving
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5 import math
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6
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7 class ExtrapolatedTrajectory:
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8 '''Class for extrapolated trajectories with lazy evaluation
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9 if the predicted position has not been already computed, compute it
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10
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11 it should also have a probability'''
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12 def predictPosition(self, nTimeSteps):
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13 return None
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14
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15 class ExtrapolatedTrajectoryConstant(ExtrapolatedTrajectory):
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16 '''Extrapolated trajectory at constant speed or acceleration
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17 TODO add limits if acceleration
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18 TODO generalize by passing a series of velocities/accelerations'''
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19
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20 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None):
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21 self.control = control
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22 self.maxSpeed = maxSpeed
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23 self.probability = probability
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24 self.predictedPositions = {0: initialPosition}
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25 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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26
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27 def predictPosition(self, nTimeSteps):
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28 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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29 self.predictPosition(nTimeSteps-1)
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30 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.control, self.maxSpeed)
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31 return self.predictedPositions[nTimeSteps]
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32
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33 class ExtrapolatedTrajectoryAdaptation(ExtrapolatedTrajectoryConstant):
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34 '''Random small adaptation of vehicle control '''
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35 def __init__(self, initialPosition, initialVelocity, accelerationBounds, steeringBounds, probability = 1, maxSpeed = None):
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36 self.accelerationBounds = accelerationBounds
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37 self.steeringBounds = steeringBounds
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38 self.maxSpeed = maxSpeed
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39 self.probability = probability
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40 self.predictedPositions = {0: initialPosition}
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41 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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42
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43 def predictPosition(self, nTimeSteps):
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44 # draw acceleration and steering
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45 # TODO should the predictPosition be in the base class ??
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46 self.control = moving.NormAngle(0,0)
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47 return ExtrapolatedTrajectoryConstant.predictPosition(self, nTimeSteps)
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48
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49 # Default values: to remove because we cannot tweak that from a script where the value may be different
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50 FPS= 25 # No. of frame per second (FPS)
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51 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
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52 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
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53
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54 def motion (position, velocity, acceleration):
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55 ''' extrapolation hypothesis: constant acceleration'''
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56 from math import atan2,cos,sin
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57 vInit= velocity
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58 vInitial= velocity.norm2()
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59 theta= atan2(velocity.y,velocity.x)
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60 vFinal= vInitial+acceleration
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61
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62 if acceleration<= 0:
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63 v= max(0,vFinal)
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64 velocity= moving.Point(v* cos(theta),v* sin(theta))
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65 position= position+ (velocity+vInit). multiply(0.5)
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66 else:
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67 v= min(vLimit,vFinal)
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68 velocity= moving.Point(v* cos(theta),v* sin(theta))
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69 position= position+ (velocity+vInit). multiply(0.5)
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70 return(position,velocity)
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71
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72 def motionPET (position, velocity, acceleration, deltaT):
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73 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
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74 from math import atan2,cos,sin,fabs
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75 vInit= velocity
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76 vInitial= velocity.norm2()
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77 theta= atan2(velocity.y,velocity.x)
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78 vFinal= vInitial+acceleration * deltaT
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79 if acceleration< 0:
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80 if vFinal> 0:
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81 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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82 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
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83 else:
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84 T= fabs(vInitial/acceleration)
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85 position= position + vInit. multiply(0.5*T)
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86 elif acceleration> 0 :
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87 if vFinal<= vLimit:
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88 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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89 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
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90 else:
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91 time1= fabs((vLimit-vInitial)/acceleration)
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92 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
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93 position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1))
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94 elif acceleration == 0:
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95 position= position + velocity. multiply(deltaT)
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96
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97 return position
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98
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99 def timePET (position, velocity, acceleration, intersectedPoint ):
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100 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
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101 from math import atan2,cos,sin,fabs
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102 vInit= velocity
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103 vInitial= velocity.norm2()
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104 theta= atan2(velocity.y,velocity.x)
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105 vFinal= vInitial+acceleration * deltaT
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106 if acceleration< 0:
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107 if vFinal> 0:
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108 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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109 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
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110 else:
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111 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x)))
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112 elif acceleration> 0 :
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113 if vFinal<= vLimit:
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114 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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115 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
116 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
117 time1= fabs((vLimit-vInitial)/acceleration)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
118 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
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parents: 243
diff changeset
119 time2= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
120 if time2<=time1:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
121 time= time2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
122 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
123 position2= (position+ (velocity+vInit). multiply(0.5*time1))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
124 time= time1+fabs((intersectedPoint.x-position2.x)/( velocity.x))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
125 elif acceleration == 0:
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parents: 243
diff changeset
126 time= fabs((intersectedPoint.x-position.x)/(velocity.x))
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parents: 243
diff changeset
127
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
128 return time
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
129
243
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130 def motionSteering (position, velocity, deltaTheta, deltaT ):
244
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131 ''' extrapolation hypothesis: steering with deltaTheta'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
132 from math import atan2,cos,sin
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
133 vInitial= velocity.norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
134 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
135 newTheta= theta + deltaTheta
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
136 velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
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parents: 243
diff changeset
137 position= position+ (velocity). multiply(deltaT)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
138 return position
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
139
243
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diff changeset
140 def MonteCarlo(movingObject1,movingObject2, instant):
244
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141 ''' Monte Carlo Simulation : estimate the probability of collision'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
142 from random import uniform
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parents: 243
diff changeset
143 from math import pow, sqrt, sin, cos,atan2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
144 N=1000
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
145 ProbOfCollision = 0
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diff changeset
146 for n in range (1, N):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
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147 # acceleration limit
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
148 acc1 = uniform(-0.040444,0)
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diff changeset
149 acc2 = uniform(-0.040444,0)
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diff changeset
150 p1= movingObject1.getPositionAtInstant(instant)
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parents: 243
diff changeset
151 p2= movingObject2.getPositionAtInstant(instant)
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parents: 243
diff changeset
152 v1= movingObject1.getVelocityAtInstant(instant)
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parents: 243
diff changeset
153 v2= movingObject2.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
154 distance= (p1-p2).norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
155 distanceThreshold= 1.8
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
156 t=1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
157 while distance > distanceThreshold and t <= deltaT:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
158 # Extrapolation position
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parents: 243
diff changeset
159 (p1,v1) = motion(p1,v1,acc1)
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parents: 243
diff changeset
160 (p2,v2) = motion(p2,v2,acc2)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
161 distance= (p1-p2).norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
162 if distance <=distanceThreshold:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
163 ProbOfCollision= ProbOfCollision+1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
164 t+=1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
165 POC= float(ProbOfCollision)/N
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
166 return POC
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
167
243
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diff changeset
168 def velocitySteering(velocity,steering):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
169 from math import atan2,cos,sin
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
170 vInitial= velocity.norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
171 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
172 newTheta= theta + steering
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
173 v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
174 return v
243
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
175
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
176 def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
177 ''' Monte Carlo Simulation : estimate the probability of collision in case of steering'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
178 from random import uniform
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
179 from math import pow, sqrt, sin, cos,atan2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
180 N=1000
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
181 L= 2.4
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
182 ProbOfCollision = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
183 for n in range (1, N):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
184 # acceleration limit
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
185 acc1 = uniform(-0.040444,0)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
186 acc2 = uniform(-0.040444,0)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
187 p1= movingObject1.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
188 p2= movingObject2.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
189 vInit1= movingObject1.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
190 v1= velocitySteering (vInit1,steering1)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
191 vInit2= movingObject2.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
192 v2= velocitySteering (vInit2,steering2)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
193 distance= (p1-p2).norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
194 distanceThreshold= 1.8
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
195 t=1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
196 while distance > distanceThreshold and t <= deltaT:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
197 # Extrapolation position
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
198 (p1,v1) = motion(p1,v1,acc1)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
199 (p2,v2) = motion(p2,v2,acc2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
200 distance= (p1-p2).norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
201 if distance <=distanceThreshold:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
202 ProbOfCollision= ProbOfCollision+1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
203 t+=1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
204 POC= float(ProbOfCollision)/N
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
205 return POC
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
206
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
207
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
208 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
209 import doctest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
210 import unittest
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
211 suite = doctest.DocFileSuite('tests/extrapolation.txt')
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
212 #suite = doctest.DocTestSuite()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
213 unittest.TextTestRunner().run(suite)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
214 #doctest.testmod()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
215 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
216