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new_MLC_weaving_Kla_north.m
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new_MLC_weaving_Kla_north.m
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%========================================================================
% Created on Fri Feb 01 18:41:00 2019
% Topic: Find gaps which trucks accept for MLC
% Dataset: Helicopter trjectory data from Aries van Beinum
% @author: salilsharma
% A. van Beinum et al. "Driving behaviour at motorway ramps and weaving
% segments based on empirical trajectory data". In: Transportation Research
% Part C: Emerging Technologies 92 (2018), pp. 426-441.
%========================================================================
clear; clc;
%Load a bootleneck section
site='weaving_Klaverpolder_north';
filename=strcat(site,'_trajectories.mat');
load(filename);
%Load leader-follower data
load(strcat(site,'_leader_follower.mat'));
%Load site characteristics file
load(strcat(site,'_lanes.mat'));
x_min = lanes.nose1;
ramp_length = lanes.ramp_length;
x_max = x_min + ramp_length;
counter1=[];
counter2=[];
%Filter trucks
ids=find([trajectories.l]>=12)';
for j=1:length(ids)
i=ids(j);
%store lanes vector as lanetraj
lanetraj=[];
lanetraj=trajectories(i).lanes;
%start at ramp lane
if lanetraj(1) == -1 & lanetraj(end) == 1
if lanetraj(end) > -1
counter1=[counter1;i];
end
%end at ramp lane
elseif lanetraj(end) == -1
if lanetraj(1) > -1
counter2=[counter2;i];
end
% No need to consider DLC
else
continue;
end
end
%% Produce plots of lane change duration
counter=counter1;
%introduce a binary outcome variable alpha to capture left or right lane
%change maneuvers
%alpha=1, if lane changes to the right
%alpha=-1, if lane changes to the left
if isequal(counter, counter1)
alpha=-1;
beta=1;
else
alpha=1;
beta=3;
end
Truck_lane_change_data=[];
false_id = [4, 17, 19];
removal_id = [];
for k=1:length(counter)
if ismember(k, removal_id)
continue
end
%figure(1); hold on;
l=counter(k);
smooth_traj=smooth(trajectories(l).y_sm,40,'moving');
%smooth_traj=trajectories(l).y_sm;
%pt is of interest
[pt,id]=findchangepts(smooth_traj);
%Maxima
[ptmax,idmax]=findpeaks(alpha.*smooth_traj);
%Minima
[ptmin,idmin]=findpeaks(alpha.*-smooth_traj);
%Create maxima and minima array
%For on ramp, maxima occurs after changepoint
max_array=idmax(idmax>pt);
min_array=idmin(idmin<pt);
if isempty(max_array) || isempty(min_array)
if isempty(min_array)
min_array=1;
end
if isempty(max_array)
%temp=[];
%temp=lenth()trajectories(l).t;
max_array=length(trajectories(l).y_sm);
end
lane_change_initiation = min_array(end);
lane_change_completion = max_array(1);
% %Use change point to refine end point of a lane change process
% L1 = pt-lane_change_initiation;
% L2 = lane_change_completion-pt;
%
% if L1 <= (L2-5)
% lane_change_completion = pt + L1;
% elseif L1 > (L2+5)
% lane_change_initiation = pt - L2;
% else
% continue;
% end
%
% lag_gap=trajectories_lf(l).foll_s_nett(lane_change_initiation,beta)
% lane_change_duration = (lane_change_completion-lane_change_initiation)./10;
% % Check speed_at_merge and relative position of merge location
% speed_at_merge = trajectories(l).v_cal(lane_change_completion);
% %extend to relative location in future
% merge_location = trajectories(l).x_sm(lane_change_initiation);
% %merge_location = trajectories(l).x_sm(lane_change_completion);
% Truck_lane_change_data=[Truck_lane_change_data;l,lane_change_duration, lag_gap, speed_at_merge, merge_location];
else
lane_change_initiation = min_array(end);
lane_change_completion = max_array(1);
end
%Use change point to refine end point of a lane change process
L1 = pt-lane_change_initiation;
L2 = lane_change_completion-pt;
if L1 <= (L2-5)
lane_change_completion = pt + L1;
elseif L1 > (L2+5)
lane_change_initiation = pt - L2;
else
pt;
end
if ismember(k,false_id)
if k==4
lane_change_initiation = 73;
lane_change_completion = 311;
elseif k==17
lane_change_initiation = 1;
lane_change_completion = 91;
else
lane_change_initiation = 35;
lane_change_completion = 95;
end
else
k;
end
lag_gap=trajectories_lf(l).foll_s_nett(lane_change_initiation,beta);
if (lag_gap)<=-0
lag_gap = 250;
end
lead_gap=trajectories_lf(l).lead_s_nett(lane_change_initiation,beta);
if (lead_gap)<=-0
lead_gap = 250;
end
critical_gap = lag_gap + lead_gap;
if (trajectories(l).x_sm) < x_min
l
end
max_lag_gap=max(trajectories_lf(l).foll_s_nett(1:lane_change_initiation,beta));
if (max_lag_gap)<=-0
max_lag_gap = 250;
end
min_lag_gap=min(trajectories_lf(l).foll_s_nett(1:lane_change_initiation,beta));
if (min_lag_gap)<=-0
min_lag_gap = 250;
end
max_lead_gap=max(trajectories_lf(l).lead_s_nett(1:lane_change_initiation,beta));
if (max_lead_gap)<=-0
max_lead_gap = 250;
end
min_lead_gap=min(trajectories_lf(l).lead_s_nett(1:lane_change_initiation,beta));
if (min_lead_gap)<=-0
min_lead_gap = 250;
end
crit_max_gap = max_lag_gap + max_lead_gap;
crit_min_gap = min_lag_gap + min_lead_gap;
lane_change_duration = (lane_change_completion-lane_change_initiation)./10;
% Check speed_at_merge and relative position of merge location
speed_at_merge = trajectories(l).v_cal(lane_change_initiation);
%extend to relative location in future
location = trajectories(l).x_sm(lane_change_initiation);
merge_location = (location-x_min)/ramp_length;
%merge_location = trajectories(l).x_sm(lane_change_completion);
%Truck_lane_change_data=[Truck_lane_change_data;l,lane_change_duration, lag_gap, speed_at_merge, merge_location];
Truck_lane_change_data=[Truck_lane_change_data;l,lane_change_duration, lag_gap, min_lag_gap, max_lag_gap, lead_gap, min_lead_gap, max_lead_gap, speed_at_merge, merge_location];
plot(trajectories(l).y_sm);
hold on;
line([lane_change_initiation lane_change_initiation],[-3 3]);
hold on;
line([lane_change_completion lane_change_completion],[-3 3]);
hold on;
line([pt pt],[-3 3],'Color', 'black');
% plot(trajectories(l).v_cal);
% hold on;
% line([lane_change_initiation lane_change_initiation],[0 120]);
% %pause();
% plot(trajectories(l).x_sm,trajectories(l).y_sm);
% hold on;
% plot(trajectories(l).v_cal);
% hold on;
% line([lane_change_initiation lane_change_initiation],[0 120]);
k
end