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High Acceleration Detection — Automatum Data Full Highway Dataset
Detects vehicles exceeding a given acceleration threshold.
Usage:
python 03_high_acceleration.py <path_to_recording_folder> [threshold_m_s2]
Example:
python 03_high_acceleration.py ../hw-a9-denkendorf-001-d8087340-8287-46b6-9612-869b09e68448 3.0
"""
import sys
import os
import numpy as np
from openautomatumdronedata.dataset import droneDataset
def detect_high_accelerations(dataset_path, acc_threshold=3.0):
print(f"Loading dataset from: {dataset_path}")
dataset = droneDataset(dataset_path)
dynWorld = dataset.dynWorld
print(f"Searching for accelerations > {acc_threshold} m/s^2...")
high_accel_vehicles = []
for dynObj in dynWorld.dynamicObjects.values():
length = min(len(dynObj.ax_vec), len(dynObj.ay_vec))
if length == 0:
continue
ax = np.array(dynObj.ax_vec[:length])
ay = np.array(dynObj.ay_vec[:length])
total_accel = np.sqrt(ax**2 + ay**2)
valid_accel = total_accel[~np.isnan(total_accel)]
if len(valid_accel) > 0:
max_accel = np.max(valid_accel)
if max_accel > acc_threshold:
high_accel_vehicles.append({
"uuid": dynObj.UUID,
"type": dynObj.type,
"max_accel": max_accel,
})
if not high_accel_vehicles:
print(f"No vehicles with acceleration > {acc_threshold} m/s^2 found.")
return
sorted_vehicles = sorted(high_accel_vehicles, key=lambda x: x["max_accel"], reverse=True)
print(f"\n--- {len(sorted_vehicles)} vehicles with notable acceleration ---")
for item in sorted_vehicles:
print(f"Vehicle {item['uuid']} ({item['type']}): max {item['max_accel']:.2f} m/s^2")
if __name__ == "__main__":
if len(sys.argv) < 2:
print("Usage: python 03_high_acceleration.py <path_to_recording_folder> [threshold]")
else:
threshold = float(sys.argv[2]) if len(sys.argv) >= 3 else 3.0
detect_high_accelerations(sys.argv[1], threshold)
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