Vehicle’s State Space¶
In this notebook, we will demonstrate how to retrieve a single dataframe representing vehicle’s state information as comprehsive as possible for a particular driver. Generally, it is not trivial since not all state information come at same data rate and not all state information is retreived at the same time.
[1]:
import strym
from strym import strymread
import matplotlib.pyplot as plt
import pandas as pd
import numpy as np
/home/ivory/anaconda3/envs/dbn/lib/python3.7/site-packages/statsmodels/tools/_testing.py:19: FutureWarning: pandas.util.testing is deprecated. Use the functions in the public API at pandas.testing instead.
import pandas.util.testing as tm
[2]:
%%time
folder = "../../PandaData/2020_04_30/"
file= "2020-04-30-15-54-48_2T3Y1RFV8KC014025_CAN_Messages.csv"
r =strymread(csvfile=folder + file)
CPU times: user 8.98 s, sys: 154 ms, total: 9.13 s
Wall time: 7.8 s
Lets retrieve the state information of the vehicle using state_space¶
[3]:
%%time
state_var = r.state_space(rate = 1, cont_method='nearest')
CPU times: user 3min 1s, sys: 27.5 s, total: 3min 28s
Wall time: 1min 31s
[4]:
state_var
[4]:
| Time | speed | distance_covered | accelx | accely | accelz | steer_torque | yaw_rate | steer_rate | steer_angle | steer_fraction | wheel_speed_fl | wheel_speed_fr | wheel_speed_rl | wheel_speed_rr | lead_distance | acc_status | relative_vel | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Clock | ||||||||||||||||||
| 2020-04-30 22:54:49.316447973 | 1.588287e+09 | 0.00 | 0.000000 | 0.000 | 15.0 | 46.0 | -9.0 | 0.00 | 0.0 | -27.0 | -0.6 | 0.00 | 0.00 | 0.00 | 0.00 | 252.0 | 0.0 | 0.0 |
| 2020-04-30 22:54:50.318795919 | 1.588287e+09 | 0.00 | 0.000000 | 0.000 | 14.0 | 46.0 | -8.0 | 0.00 | 0.0 | -27.0 | -0.6 | 0.00 | 0.00 | 0.00 | 0.00 | 252.0 | 0.0 | 0.0 |
| 2020-04-30 22:54:51.321143866 | 1.588287e+09 | 0.00 | 0.000000 | 0.000 | 14.0 | 46.0 | -9.0 | 0.00 | 0.0 | -27.0 | -0.6 | 0.00 | 0.00 | 0.00 | 0.00 | 252.0 | 0.0 | 0.0 |
| 2020-04-30 22:54:52.323491812 | 1.588287e+09 | 0.00 | 0.000000 | 0.000 | 14.0 | 46.0 | -8.0 | 0.00 | 0.0 | -27.0 | -0.6 | 0.00 | 0.00 | 0.00 | 0.00 | 252.0 | 0.0 | 0.0 |
| 2020-04-30 22:54:53.325839758 | 1.588287e+09 | 0.00 | 0.000000 | 0.000 | 14.0 | 46.0 | -9.0 | 0.00 | 0.0 | -27.0 | -0.6 | 0.00 | 0.00 | 0.00 | 0.00 | 252.0 | 0.0 | 0.0 |
| ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... |
| 2020-04-30 23:04:34.687644243 | 1.588288e+09 | 14.51 | 21718.269588 | 0.067 | -79.0 | 113.0 | -41.0 | -25.25 | -200.0 | -262.5 | -0.1 | 15.83 | 13.42 | 15.18 | 12.98 | 252.0 | 2.0 | 0.0 |
| 2020-04-30 23:04:35.689992189 | 1.588288e+09 | 14.51 | 21732.808192 | 0.000 | -75.0 | 46.0 | -34.0 | -31.50 | -1.0 | -310.5 | 0.1 | 16.18 | 13.24 | 15.22 | 12.47 | 252.0 | 2.0 | 0.0 |
| 2020-04-30 23:04:36.692340136 | 1.588288e+09 | 14.06 | 21747.141382 | -0.008 | -60.0 | 165.0 | -23.0 | -27.50 | 122.0 | -273.0 | -0.4 | 15.50 | 12.98 | 14.72 | 12.16 | 252.0 | 2.0 | 0.0 |
| 2020-04-30 23:04:37.694688082 | 1.588288e+09 | 14.46 | 21761.208512 | 0.381 | -31.0 | 172.0 | 8.0 | -13.00 | 100.0 | -118.5 | -0.3 | 15.30 | 14.00 | 14.91 | 13.85 | 252.0 | 2.0 | 0.0 |
| 2020-04-30 23:04:38.697036028 | 1.588288e+09 | 16.43 | 21776.642314 | 0.462 | -23.0 | 253.0 | 12.0 | -4.75 | 19.0 | -43.5 | 0.2 | 16.91 | 16.35 | 16.55 | 16.39 | 252.0 | 2.0 | 0.0 |
589 rows × 18 columns
The state_space function call further creates a sqlite3 database with State Space table in a local folder ~/.strym folder that can be used for database query.