pNeuma_simulator.gang.collision module

pNeuma_simulator.gang.collision.collisions(ego: Particle, speed: float, theta: float, neighbors: list[Particle])[source]

Returns time to collision in seconds if defined.

Parameters:

ego (Particle) – ego vehicle.
speed (float) – check for collision at this speed
theta (float) – check for collision in this direction
neighbors (list[Particle]) – list of potentially colliding vehicles

Returns:

time to collision (or None if not defined).

Return type:

float

pNeuma_simulator.gang.collision.newton_iteration(l_j: float, w_j: float, l_i: float, w_i: float, x_j: float, y_j: float, x_i: float, y_i: float, theta_j: float, theta_i: float, vx_j: float, vy_j: float, vx_i: float, vy_i: float, max_iterations: int = 1000, tolerance: float = 0.001, delta: float = 1e-09)[source]

Perform Newton’s iteration to find the time-to-collision (TTC) between two objects.

Parameters:

l_j (float) – Length of object j.
w_j (float) – Width of object j.
l_i (float) – Length of object i.
w_i (float) – Width of object i.
x_j (float) – x-coordinate of object j.
y_j (float) – y-coordinate of object j.
x_i (float) – x-coordinate of object i.
y_i (float) – y-coordinate of object i.
theta_j (float) – Orientation angle of object j.
theta_i (float) – Orientation angle of object i.
vx_j (float) – x-component of velocity of object j.
vy_j (float) – y-component of velocity of object j.
vx_i (float) – x-component of velocity of object i.
vy_i (float) – y-component of velocity of object i.
max_iterations (int, optional) – Maximum number of iterations. Default is 1000.
tolerance (float, optional) – Desired tolerance. Default is 0.001.
delta (float, optional) – Small value to avoid division by zero. Default is 1e-9.

Returns:

A tuple containing:

float: Time-to-collision value within the desired tolerance and maximum number of iterations, or None if
no solution is found.
int: Number of iterations performed, or None if no solution is found.

Return type:

tuple