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Implement dynamic adjustment of velocity

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This commit is contained in:
Tobias Eidelpes 2021-06-09 18:29:41 +02:00
parent caae4e54d7
commit ad74621616
4 changed files with 49 additions and 26 deletions
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12
components/entitiy_ident/mongo/traffic_lights.json
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@ -2,22 +2,22 @@
{
"id": "1",
"location": [16.20719, 47.89584],
"range": 2000,
"switchingTime": 500,
"range": 542,
"switchingTime": 15,
"initialColor": "RED"
},
{
"id": "2",
"location": [16.20814, 47.90937],
"range": 800,
"switchingTime": 240,
"range": 725,
"switchingTime": 20,
"initialColor": "GREEN"
},
{
"id": "3",
"location": [16.20917, 47.92703],
"range": 1000,
"switchingTime": 360,
"range": 910,
"switchingTime": 25,
"initialColor": "RED"
}
]

2
components/i_feed/devices/traffic_light.py
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@ -11,7 +11,7 @@ from dse_shared_libs.message_broker_wrapper import MBWrapper
from dse_shared_libs.traffic_light_state import TrafficLightState
from pika.exceptions import AMQPConnectionError
SWITCHING_TIME = 10
SWITCHING_TIME = 15
# Scale speed of switching by factor x
SCALING = 1

8
components/i_feed/devices/vehicle.py
View File

@ -16,18 +16,18 @@ from dse_shared_libs.target_velocity import TargetVelocity
from pika.exceptions import AMQPConnectionError
STARTING_POINT = geopy.Point(47.89053, 16.20703)
# in km/h
STARTING_VELOCITY = 130
# Driving direction in degrees: 0=N, 90=E, 180=S, 270=W
BEARING = 0
# Scale speed of vehicles by factor x
SCALING = 2
SCALING = 1
# in km/h
STARTING_VELOCITY = 130 * SCALING
# Interval between status updates in seconds (is not scaled)
UPDATE_INTERVAL = 1
# At x km the NCE shall happen
NCE_KM = 2.4
# Time in seconds to recover from NCE (will be scaled)
TIME_TO_RECOVER = 10
TIME_TO_RECOVER = 5
# Resets vehicle at km x
RESET_KM = 4

53
components/orchestration/orchestrator.py
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@ -3,6 +3,8 @@ import pickle
import sys
from random import randrange
from typing import List, Dict
from datetime import datetime, timedelta
from math import floor, ceil
import requests
from dse_shared_libs import daf, traffic_light_state, traffic_light_color, target_velocity
@ -11,6 +13,7 @@ from dse_shared_libs.message_broker_wrapper import MBWrapper
# necessary to unpickle daf object
from dse_shared_libs.target_velocity import TargetVelocity
from dse_shared_libs.traffic_light_state import TrafficLightState
from dse_shared_libs.traffic_light_color import TrafficLightColor
from requests import Session
sys.modules['daf'] = daf
@ -18,7 +21,6 @@ sys.modules['traffic_light_state'] = traffic_light_state
sys.modules['traffic_light_color'] = traffic_light_color
sys.modules['target_velocity'] = target_velocity
ENTITY_IDENT_URL = 'http://entityident:5002/api/v1/resources/'
@ -53,7 +55,8 @@ class Orchestrator:
for traffic_light in traffic_lights['cursor']:
self.tls[traffic_light['id']] = {'color': traffic_light['initialColor'],
'switching_time': traffic_light['switchingTime']}
'switching_time': traffic_light['switchingTime'],
'last_switch': datetime.now()}
def setup_msg_queues(self):
# spawn the vehicle related message broker channels
@ -82,28 +85,47 @@ class Orchestrator:
"""
received_daf_object: DAF = pickle.loads(pickle_binary)
loc = received_daf_object.gps_location
print(received_daf_object)
print('Received DAF object: {}'.format(received_daf_object))
# TODO ask entity ident if tl in range?!
# something like the following below ...
response = self._session.get(ENTITY_IDENT_URL + 'traffic_lights_geo',
params={'lat': loc.latitude, 'lon': loc.longitude})
traffic_lights_geo = response.json()
print('TLGeo', traffic_lights_geo)
# TODO in the best case we get a traffic light ID and some sort of visibility range here?
# we need to calculate new speed regarding current speed and position and visibility of TL to ensure a
# green wave
# keep NCE in mind ... vehicle will not adapt to target velocity if still recovering from NCE
# TODO use the data from the traffic lights (self.tls)
# to transmit a new target velocity for this vehicle to achieve a green wave
current_vel = received_daf_object.velocity
target_vel = 130
print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor']))
print('Nearest traffic light count: {}'.format(len(traffic_lights_geo['cursor'])))
for traffic_light in traffic_lights_geo['cursor']:
# Should only ever contain one traffic light
tl_id = traffic_light['id']
distance = traffic_light['calculatedRange']
next_switch_time = self.tls[tl_id]['last_switch'] + timedelta(seconds=self.tls[tl_id]['switching_time'])
time_until_switch = next_switch_time - datetime.now()
print('Distance to TL: {}'.format(distance))
print('Time until switch in seconds: {}'.format(time_until_switch.total_seconds()))
if self.tls[tl_id]['color'] is TrafficLightColor.RED:
# Ceil because we want to get there AFTER the light changed
speed_needed = (distance / float(time_until_switch.total_seconds())) * 3.6
if current_vel > speed_needed:
print('Current velocity too high ({}), adjusting to {}'.format(current_vel, speed_needed))
target_vel = speed_needed
else:
print('Current velocity lower ({})'.format(current_vel))
target_vel = current_vel
else:
# Check if we can cross in time with max speed (130)
speed_needed = (distance / float(time_until_switch.total_seconds())) * 3.6
if speed_needed >= 130:
# Cannot make it in time, wait for next green
print('Wait on green -> red -> green switch')
time_until_green = time_until_switch + timedelta(seconds=self.tls[tl_id]['switching_time'])
target_vel = (distance / float(time_until_green.total_seconds())) * 3.6
print('Speed should be way lower than 130: {}'.format(target_vel))
response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
target_vel = randrange(0, 130)
print('Target velocity: {}'.format(target_vel))
response_channel.send(pickle.dumps(
TargetVelocity(vin=received_daf_object.vehicle_identification_number, target_velocity=target_vel,
timestamp=datetime.datetime.now())))
timestamp=datetime.now())))
def handle_tl_state_receive(self, msg):
"""
@ -117,4 +139,5 @@ class Orchestrator:
"""
tl_state: TrafficLightState = pickle.loads(msg)
self.tls[tl_state.tlid]['color'] = tl_state.color
self.tls[tl_state.tlid]['last_switch'] = tl_state.last_switch
print(tl_state)