Mercurial > hg > nsaunier > traffic-intelligence

annotate python/traffic_engineering.py @ 412:97cb5c969ef2

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corrected grouping bug (last object type -1) and added script to rescale homographies
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 01 Sep 2013 22:00:11 -0400
parents 539e2b4cfaa3
children 7828fec8bbd2
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1 #! /usr/bin/env python
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2 ''' Traffic Engineering Tools and Examples'''
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3
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4 from math import ceil
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5
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6 import prediction
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7
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8 __metaclass__ = type
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9
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11 #########################
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12 # Simulation
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13 #########################
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14
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15 class Vehicle:
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16 '''Generic vehicle class
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17 1D coordinates for now'''
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18 class PredictedTrajectory1D(prediction.PredictedTrajectory):
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19 def __init__(self, initialPosition, initialSpeed, control, maxSpeed = None):
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20 self.control = control
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21 self.maxSpeed = maxSpeed
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22 self.probability = None
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23 self.predictedPositions = {0: moving.Point(initialPosition)}
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24 self.predictedSpeedOrientations = {0: moving.NormAngle(initialSpeed, 0)}
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25
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26 def setAcceleration(self, acceleration):
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27 self.control = moving.NormAngle(acceleration, 0)
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28
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29 def getControl(self):
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30 return self.control
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33 def __init__(self, initialPosition = 0, initialSpeed = 0, acceleration = 0, prt = 2.5, leader = None):
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34 self.positions = PredictedTrajectory1D(initialPosition, initialSpeed)
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35
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36 self.prt = prt
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37 self.leader = leader
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38 # todo add microModel (Treiber)
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39
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40 def setAcceleration(self, acceleration):
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41 self.positions.setAcceleration(acceleration)
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42
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43 def updatePosition(self, dt): # knowledge of time outside of vehicle ??
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44 speed = self.speed
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45 self.speed += self.acceleration*dt
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46 self.position += speed*dt
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47 if self.log:
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48 self.positions.append(self.position)
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49 self.speeds.append(self.speed)
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50 self.accelerations.append(self.acceleration)
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51
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52 def updateAcceleration(self, dt):
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53 '''Updates acceleration and speed as a function of leader
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54 and other factors'''
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55 pass
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56
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57 def update(self, dt):
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58 self.updatePosition(dt)
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59 self.updateAcceleration(dt) # function of leader
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60
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61 def printStats(self):
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62 print('{0} {1} {2}'.format(self.position, self.speed, self.acceleration))
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63
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64 #########################
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65 # fundamental diagram
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66 #########################
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67
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68 class FundamentalDiagram:
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69 ''' '''
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70 def __init__(self, name):
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71 self.name = name
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72
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73 def q(self, k):
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74 return k*self.v(k)
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75
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76 @staticmethod
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77 def meanHeadway(k):
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78 return 1/k
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79
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80 @staticmethod
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81 def meanSpacing(q):
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82 return 1/q
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83
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84 def plotVK(self, language='fr', units={}):
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85 from numpy import arange
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86 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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87 densities = [k for k in arange(1, self.kj+1)]
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88 figure()
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89 plot(densities, [self.v(k) for k in densities])
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90 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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91 ylabel('Vitesse (km/h)')
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92
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93 def plotQK(self, language='fr', units={}):
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94 from numpy import arange
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95 from matplotlib.pyplot import figure,plot,xlabel,ylabel
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96 densities = [k for k in arange(1, self.kj+1)]
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97 figure()
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98 plot(densities, [self.q(k) for k in densities])
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99 xlabel('Densite (veh/km)') # todo other languages and adapt to units
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100 ylabel('Debit (km/h)')
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101
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102 class GreenbergFD(FundamentalDiagram):
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103 '''Speed is the logarithm of density'''
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104 def __init__(self, vc, kj):
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105 FundamentalDiagram.__init__(self,'Greenberg')
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106 self.vc=vc
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107 self.kj=kj
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108
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109 def v(self,k):
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110 from numpy import log
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111 return self.vc*log(self.kj/k)
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112
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113 def criticalDensity(self):
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114 from numpy import e
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115 self.kc = self.kj/e
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116 return self.kc
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117
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118 def capacity(self):
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119 self.qmax = self.kc*self.vc
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120 return self.qmax
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121
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122 #########################
116
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123 # intersection
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124 #########################
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125
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126 class FourWayIntersection:
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127 '''Simple class for simple intersection outline'''
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128 def __init__(self, dimension, coordX, coordY):
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129 self.dimension = dimension
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130 self.coordX = coordX
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diff changeset
131 self.coordY = coordY
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132
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133 def plot(self, options = 'k'):
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diff changeset
134 from matplotlib.pyplot import plot, axis
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135
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diff changeset
136 minX = min(self.dimension[0])
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diff changeset
137 maxX = max(self.dimension[0])
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diff changeset
138 minY = min(self.dimension[1])
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diff changeset
139 maxY = max(self.dimension[1])
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140
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141 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[0], self.coordY[0], minY],options)
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142 plot([self.coordX[1], self.coordX[1], maxX], [minY, self.coordY[0], self.coordY[0]],options)
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143 plot([minX, self.coordX[0], self.coordX[0]], [self.coordY[1], self.coordY[1], maxY],options)
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144 plot([self.coordX[1], self.coordX[1], maxX], [maxY, self.coordY[1], self.coordY[1]],options)
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145 axis('equal')
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146
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diff changeset
147 #########################
33
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148 # traffic signals
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149 #########################
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150
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151 class Volume:
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152 '''Class to represent volumes with varied vehicule types '''
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153 def __init__(self, volume, types = ['pc'], proportions = [1], equivalents = [1], nLanes = 1):
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154 '''mvtEquivalent is the equivalent if the movement is right of left turn'''
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155
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156 # check the sizes of the lists
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157 if sum(proportions) == 1:
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158 self.volume = volume
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159 self.types = types
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160 self.proportions = proportions
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161 self.equivalents = equivalents
314
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diff changeset
162 self.nLanes = nLanes
33
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163 else:
302
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diff changeset
164 print('Proportions do not sum to 1')
33
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165 pass
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166
314
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diff changeset
167 def checkProtected(self, opposedThroughMvt):
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168 '''Checks if this left movement should be protected,
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diff changeset
169 ie if one of the main two conditions on left turn is verified'''
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diff changeset
170 return self.volume >= 200 or self.volume*opposedThroughMvt.volume/opposedThroughMvt.nLanes > 50000
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diff changeset
171
205
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172 def getPCUVolume(self):
33
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173 '''Returns the passenger-car equivalent for the input volume'''
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174 v = 0
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175 for p, e in zip(self.proportions, self.equivalents):
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176 v += p*e
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177 return v*self.volume
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178
34
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179 class IntersectionMovement:
33
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180 '''Represents an intersection movement
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181 with a volume, a type (through, left or right)
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182 and an equivalent for movement type'''
205
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parents: 198
diff changeset
183 def __init__(self, volume, mvtEquivalent = 1):
33
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184 self.volume = volume
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185 self.mvtEquivalent = mvtEquivalent
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186
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187 def getTVUVolume(self):
205
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parents: 198
diff changeset
188 return self.mvtEquivalent*self.volume.getPCUVolume()
33
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189
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190 class LaneGroup:
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191 '''Class that represents a group of mouvements'''
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192
34
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193 def __init__(self, movements, nLanes):
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194 self.movements = movements
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diff changeset
195 self.nLanes = nLanes
33
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196
34
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197 def getTVUVolume(self):
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198 return sum([mvt.getTVUVolume() for mvt in self.movements])
33
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199
206
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diff changeset
200 def getCharge(self, saturationVolume):
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parents: 205
diff changeset
201 return self.getTVUVolume()/(self.nLanes*saturationVolume)
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parents: 205
diff changeset
202
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diff changeset
203 def optimalCycle(lostTime, criticalCharge):
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parents: 205
diff changeset
204 return (1.5*lostTime+5)/(1-criticalCharge)
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parents: 205
diff changeset
205
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parents: 205
diff changeset
206 def minimumCycle(lostTime, criticalCharge, degreeSaturation=1.):
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parents: 205
diff changeset
207 'degree of saturation can be used as the peak hour factor too'
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parents: 205
diff changeset
208 return lostTime/(1-criticalCharge/degreeSaturation)
34
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diff changeset
209
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diff changeset
210 class Cycle:
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diff changeset
211 '''Class to compute optimal cycle and the split of effective green times'''
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diff changeset
212 def __init__(self, phases, lostTime, saturationVolume):
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diff changeset
213 '''phases is a list of phases
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diff changeset
214 a phase is a list of lanegroups'''
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diff changeset
215 self.phases = phases
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diff changeset
216 self.lostTime = lostTime
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diff changeset
217 self.saturationVolume = saturationVolume
33
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parents:
diff changeset
218
206
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parents: 205
diff changeset
219 def computeCriticalCharges(self):
314
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parents: 302
diff changeset
220 self.criticalCharges = [max([lg.getCharge(self.saturationVolume) for lg in phase]) for phase in self.phases]
34
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parents: 33
diff changeset
221 self.criticalCharge = sum(self.criticalCharges)
206
82b4101d9a2f re-arranged and commnted signal cycle calculations
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parents: 205
diff changeset
222
82b4101d9a2f re-arranged and commnted signal cycle calculations
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parents: 205
diff changeset
223 def computeOptimalCycle(self):
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parents: 205
diff changeset
224 self.computeCriticalCharges()
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parents: 205
diff changeset
225 self.C = optimalCycle(self.lostTime, self.criticalCharge)
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parents: 205
diff changeset
226 return self.C
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parents: 205
diff changeset
227
82b4101d9a2f re-arranged and commnted signal cycle calculations
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parents: 205
diff changeset
228 def computeMinimumCycle(self, degreeSaturation=1.):
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parents: 205
diff changeset
229 self.computeCriticalCharges()
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diff changeset
230 self.C = minimumCycle(self.lostTime, self.criticalCharge, degreeSaturation)
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parents: 205
diff changeset
231 return self.C
34
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parents: 33
diff changeset
232
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parents: 33
diff changeset
233 def computeEffectiveGreen(self):
314
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parents: 302
diff changeset
234 #from numpy import round
206
82b4101d9a2f re-arranged and commnted signal cycle calculations
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 205
diff changeset
235 #self.computeCycle() # in case it was not done before
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parents: 205
diff changeset
236 effectiveGreenTime = self.C-self.lostTime
34
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parents: 33
diff changeset
237 self.effectiveGreens = [round(c*effectiveGreenTime/self.criticalCharge,1) for c in self.criticalCharges]
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diff changeset
238 return self.effectiveGreens
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parents: 33
diff changeset
239
33
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parents:
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240
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parents:
diff changeset
241 def computeInterGreen(perceptionReactionTime, initialSpeed, intersectionLength, vehicleAverageLength = 6, deceleration = 3):
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parents:
diff changeset
242 '''Computes the intergreen time (yellow/amber plus all red time)
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parents:
diff changeset
243 Deceleration is positive
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parents:
diff changeset
244 All variables should be in the same units'''
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parents:
diff changeset
245 if deceleration > 0:
36
571b11304ec9 corrected bug
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parents: 34
diff changeset
246 return [perceptionReactionTime+float(initialSpeed)/(2*deceleration), float(intersectionLength+vehicleAverageLength)/initialSpeed]
33
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parents:
diff changeset
247 else:
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parents:
diff changeset
248 print 'Issue deceleration should be strictly positive'
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parents:
diff changeset
249 return None
37
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parents: 36
diff changeset
250
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parents: 36
diff changeset
251 def uniformDelay(cycleLength, effectiveGreen, saturationDegree):
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parents: 36
diff changeset
252 '''Computes the uniform delay'''
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parents: 36
diff changeset
253 return 0.5*cycleLength*(1-float(effectiveGreen)/cycleLength)/(1-float(effectiveGreen*saturationDegree)/cycleLength)
87
f234154207d4 distance and time to change speed
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parents: 73
diff changeset
254
f234154207d4 distance and time to change speed
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parents: 73
diff changeset
255 #########################
f234154207d4 distance and time to change speed
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diff changeset
256 # misc
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parents: 73
diff changeset
257 #########################
f234154207d4 distance and time to change speed
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parents: 73
diff changeset
258
f234154207d4 distance and time to change speed
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parents: 73
diff changeset
259 def timeChangingSpeed(v0, vf, a, TPR):
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parents: 73
diff changeset
260 return TPR+(vf-v0)/a
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parents: 73
diff changeset
261
f234154207d4 distance and time to change speed
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parents: 73
diff changeset
262 def distanceChangingSpeed(v0, vf, a, TPR):
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parents: 73
diff changeset
263 return TPR*v0+(vf*vf-v0*v0)/(2*a)