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Commits (2)
......@@ -13,7 +13,7 @@ sudo apt-get install ffmpeg
## Install SUMO
Clone a customized version of SUMO for smooth lane changes from https://gitlab.lrz.de/ge36pob/sumo and check out branch `smooth-lane-change`.
Clone a customized version of SUMO for smooth lane changes from https://github.com/octavdragoi/sumo and check out branch `smooth-lane-change`.
For installation we recommend building with:
```
cd sumo
......
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<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on Tue Apr 9 09:42:51 2019 by Eclipse SUMO netconvert Version 1.1.0
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<input>
<osm-files value="a9_half.osm"/>
</input>
<output>
<output-file value="a9.net.xml"/>
</output>
<projection>
<proj.utm value="true"/>
</projection>
</configuration>
-->
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<location netOffset="-691600.34,-5363834.90" convBoundary="0.00,0.00,225.33,2328.92" origBoundary="11.589690,48.398466,11.591668,48.419466" projParameter="+proj=utm +zone=32 +ellps=WGS84 +datum=WGS84 +units=m +no_defs"/>
<type id="highway.bridleway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
<type id="highway.bus_guideway" priority="1" numLanes="1" speed="27.78" allow="bus" oneway="1"/>
<type id="highway.cycleway" priority="1" numLanes="1" speed="8.33" allow="bicycle" oneway="0" width="1.00"/>
<type id="highway.footway" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
<type id="highway.ford" priority="1" numLanes="1" speed="2.78" allow="army" oneway="0"/>
<type id="highway.living_street" priority="3" numLanes="1" speed="2.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.motorway" priority="13" numLanes="2" speed="44.44" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
<type id="highway.motorway_link" priority="12" numLanes="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" oneway="1"/>
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<type id="highway.pedestrian" priority="1" numLanes="1" speed="2.78" allow="pedestrian" oneway="1" width="2.00"/>
<type id="highway.primary" priority="9" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.primary_link" priority="8" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.raceway" priority="14" numLanes="2" speed="83.33" allow="vip" oneway="0"/>
<type id="highway.residential" priority="4" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.secondary" priority="7" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.secondary_link" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.service" priority="2" numLanes="1" speed="5.56" allow="delivery bicycle pedestrian" oneway="0"/>
<type id="highway.stairs" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
<type id="highway.step" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
<type id="highway.steps" priority="1" numLanes="1" speed="1.39" allow="pedestrian" oneway="1" width="2.00"/>
<type id="highway.tertiary" priority="6" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.tertiary_link" priority="5" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.track" priority="1" numLanes="1" speed="5.56" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.trunk" priority="11" numLanes="2" speed="27.78" disallow="tram rail_urban rail rail_electric bicycle pedestrian ship" oneway="0"/>
<type id="highway.trunk_link" priority="10" numLanes="1" speed="22.22" disallow="tram rail_urban rail rail_electric bicycle pedestrian ship" oneway="0"/>
<type id="highway.unclassified" priority="5" numLanes="1" speed="13.89" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="highway.unsurfaced" priority="1" numLanes="1" speed="8.33" disallow="tram rail_urban rail rail_electric ship" oneway="0"/>
<type id="railway.light_rail" priority="15" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
<type id="railway.preserved" priority="15" numLanes="1" speed="27.78" allow="rail" oneway="1"/>
<type id="railway.rail" priority="15" numLanes="1" speed="83.33" allow="rail rail_electric" oneway="1"/>
<type id="railway.subway" priority="15" numLanes="1" speed="27.78" allow="rail_urban" oneway="1"/>
<type id="railway.tram" priority="15" numLanes="1" speed="13.89" allow="tram" oneway="1"/>
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</net>
<?xml version="1.0" encoding="UTF-8"?>
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</output>
<time>
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<end value="20.0"/>
</time>
<report>
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<ignore-errors value="true"/>
<no-step-log value="true"/>
</report>
</configuration>
-->
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<trip id="4" depart="2.35" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="5" depart="2.94" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="6" depart="3.53" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="7" depart="4.12" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="8" depart="4.71" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="9" depart="5.29" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="10" depart="5.88" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="11" depart="6.47" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="12" depart="7.06" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="13" depart="7.65" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="14" depart="8.24" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="15" depart="8.82" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="16" depart="9.41" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="17" depart="10.00" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="18" depart="10.59" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="19" depart="11.18" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="20" depart="11.76" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="21" depart="12.35" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="22" depart="12.94" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="23" depart="13.53" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="24" depart="14.12" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="25" depart="14.71" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="26" depart="15.29" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="27" depart="15.88" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="28" depart="16.47" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="29" depart="17.06" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="30" depart="17.65" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="31" depart="18.24" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="32" depart="18.82" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
<trip id="33" depart="19.41" from="135586672" to="135586672" departLane="free" departSpeed="random" departPos="base"/>
</routes>
from config.default import SumoCommonRoadConfig
class Conf(SumoCommonRoadConfig):
verbose = True
#simulation
dt = 0.1 # length of simulation step
delta_steps = 1 # number of substeps simulated in SUMO during every dt
command_line_input = False # if true, ignore the simulation_step and ask in command line
simulation_steps = 70
with_sumo_gui = False
# plotting
video_start = 10
video_end = simulation_steps
scenario_name = 'a9'
plot_auto = False #plot_x1,plot_x2, plot_y1, plot_y2 only works if plot_auto is False
focus_ego_vehicle = True
plot_x1 = 50 #plot_x1 and plot_x2 defines the range of plotted scnario in x axis
plot_x2 = 300
plot_y1 = -10 #plot_y1 and plot_y2 defines the range of plotted scnario in y axis
plot_y2 = 600
figsize_x = 70/5#15
figsize_y= 40/5#20
window_width = 70 #70
window_height = 19
# ego vehicle
presimulation_steps = 120
ego_veh_width = 1.674
ego_veh_length = 4.298
#ego vehicle sync parameters
lanelet_check_time_window = int(2/dt) #Time window to detect the lanelet change in seconds
protection_margin = 2.0 # The absolute margin allowed between the planner position and ego position in SUMO
consistency_window = 4 # Variable can be used to force the consistency to certain number of steps
lane_change_sync = False # Used to limit the sync mechanism only to movexy
lane_change_tol = 0.00 # tolerance for detecting start of lane change
\ No newline at end of file
from config.default import SumoCommonRoadConfig
class Conf(SumoCommonRoadConfig):
#simulation
dt = 0.1 # length of simulation step
delta_steps = 1 # number of substeps simulated in SUMO during every dt
command_line_input = False # if true, ignore the simulation_step and ask in command line
simulation_steps = 40
# plotting
video_start = 1
video_end = simulation_steps
scenario_name = 'tri_junction'
with_sumo_gui = False
plot_auto = False #plot_x1,plot_x2, plot_y1, plot_y2 only works if plot_auto is False
focus_ego_vehicle = False
plot_x1 = 300 #plot_x1 and plot_x2 defines the range of plotted scnario in x axis
plot_x2 = 360
plot_y1 = 190 #plot_y1 and plot_y2 defines the range of plotted scnario in y axis
plot_y2 = 235
figsize_x = 10
figsize_y= 10
window_width = 70
window_height = 70
# ego vehicle
presimulation_steps = 105
ego_veh_width = 1.8
ego_veh_length = 4.5
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This diff is collapsed.
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated on Mon May 6 16:53:23 2019 by Eclipse SUMO duarouter Version 1.1.0
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/duarouterConfiguration.xsd">
<input>
<net-file value="/home/klischat/GIT_REPOS/sumo-interface/scenarios/tri_junction/tri_junction.net.xml"/>
<route-files value="/home/klischat/GIT_REPOS/sumo-interface/sumo2cr/maps/../../scenarios/tri_junction/tri_junction.trips.xml"/>
</input>
<output>
<output-file value="/home/klischat/GIT_REPOS/sumo-interface/sumo2cr/maps/../../scenarios/tri_junction/tri_junction.rou.xml"/>
<alternatives-output value="/home/klischat/GIT_REPOS/sumo-interface/sumo2cr/maps/../../scenarios/tri_junction/tri_junction.rou.alt.xml"/>
</output>
<time>
<begin value="0.0"/>
<end value="20.0"/>
</time>
<report>
<no-warnings value="true"/>
<ignore-errors value="true"/>
<no-step-log value="true"/>
</report>
</configuration>
-->
<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
<vehicle id="0" depart="0.00" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="11.63" probability="1.00000000" edges="-210015952.219"/>
</routeDistribution>
</vehicle>
<vehicle id="1" depart="0.20" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="23.02" probability="1.00000000" edges="-210015962 -210015954 -4318974"/>
</routeDistribution>
</vehicle>
<vehicle id="3" depart="0.60" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="28.36" probability="1.00000000" edges="4318974.270 210015954 -210015965"/>
</routeDistribution>
</vehicle>
<vehicle id="11" depart="2.20" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="17.43" probability="1.00000000" edges="210015954 210015962 210015952"/>
</routeDistribution>
</vehicle>
<vehicle id="12" depart="2.40" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="9.36" probability="1.00000000" edges="210015965 210015962"/>
</routeDistribution>
</vehicle>
<vehicle id="13" depart="2.60" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="51.37" probability="1.00000000" edges="4318974.270 210015954 -210015965 -220864519"/>
</routeDistribution>
</vehicle>
<vehicle id="18" depart="3.60" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="39.36" probability="1.00000000" edges="220864519 210015965 210015962 210015952"/>
</routeDistribution>
</vehicle>
<vehicle id="19" depart="3.80" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="12.84" probability="1.00000000" edges="210015962 210015952"/>
</routeDistribution>
</vehicle>
<vehicle id="25" depart="5.00" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="3.23" probability="1.00000000" edges="-210015954"/>
</routeDistribution>
</vehicle>
<vehicle id="29" depart="5.80" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="6.06" probability="1.00000000" edges="210015965 -210015954"/>
</routeDistribution>
</vehicle>
<vehicle id="32" depart="6.40" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="9.36" probability="1.00000000" edges="210015965 210015962"/>
</routeDistribution>
</vehicle>
<vehicle id="34" depart="6.80" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="25.35" probability="1.00000000" edges="-210015965 -220864519"/>
</routeDistribution>
</vehicle>
<vehicle id="35" depart="7.00" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="16.48" probability="1.00000000" edges="210015965 210015962 210015952"/>
</routeDistribution>
</vehicle>
<vehicle id="41" depart="8.20" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="6.06" probability="1.00000000" edges="210015965 -210015954"/>
</routeDistribution>
</vehicle>
<vehicle id="44" depart="8.80" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="5.72" probability="1.00000000" edges="210015962"/>
</routeDistribution>
</vehicle>
<vehicle id="48" depart="9.60" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="28.36" probability="1.00000000" edges="4318974.270 210015954 -210015965"/>
</routeDistribution>
</vehicle>
<vehicle id="52" depart="10.40" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="28.95" probability="1.00000000" edges="220864519 210015965 -210015954"/>
</routeDistribution>
</vehicle>
<vehicle id="54" depart="10.80" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="22.95" probability="1.00000000" edges="-220864519"/>
</routeDistribution>
</vehicle>
<vehicle id="62" depart="12.40" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="22.95" probability="1.00000000" edges="-220864519"/>
</routeDistribution>
</vehicle>
<vehicle id="72" depart="14.40" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="31.78" probability="1.00000000" edges="4318974.270 210015954 210015962"/>
</routeDistribution>
</vehicle>
<vehicle id="73" depart="14.60" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="29.90" probability="1.00000000" edges="210015954 -210015965 -220864519"/>
</routeDistribution>
</vehicle>
<vehicle id="74" depart="14.80" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="5.72" probability="1.00000000" edges="-210015962"/>
</routeDistribution>
</vehicle>
<vehicle id="76" depart="15.20" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="39.36" probability="1.00000000" edges="220864519 210015965 210015962 210015952"/>
</routeDistribution>
</vehicle>
<vehicle id="80" depart="16.00" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="2.33" probability="1.00000000" edges="-210015965"/>
</routeDistribution>
</vehicle>
<vehicle id="83" depart="16.60" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="11.63" probability="1.00000000" edges="-210015952.219"/>
</routeDistribution>
</vehicle>
<vehicle id="86" depart="17.20" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="41.72" probability="1.00000000" edges="220864519 210015965 -210015954 -4318974"/>
</routeDistribution>
</vehicle>
<vehicle id="87" depart="17.40" departLane="free" departPos="base" departSpeed="random">
<routeDistribution last="0">
<route cost="32.71" probability="1.00000000" edges="-210015962 -210015965 -220864519"/>
</routeDistribution>
</vehicle>
</routes>
<?xml version="1.0" ?>
<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
<vehicle depart="0.00" departLane="free" departPos="base" departSpeed="random" id="0">
<route edges="-210015952.219"/>
</vehicle>
<vehicle depart="0.20" departLane="free" departPos="base" departSpeed="random" id="1">
<route edges="-210015962 -210015954 -4318974"/>
</vehicle>
<vehicle depart="0.60" departLane="free" departPos="base" departSpeed="random" id="3">
<route edges="4318974.270 210015954 -210015965"/>
</vehicle>
<vehicle depart="2.20" departLane="free" departPos="base" departSpeed="random" id="11">
<route edges="210015954 210015962 210015952"/>
</vehicle>
<vehicle depart="2.40" departLane="free" departPos="base" departSpeed="random" id="12">
<route edges="210015965 210015962"/>
</vehicle>
<vehicle depart="2.60" departLane="free" departPos="base" departSpeed="random" id="13">
<route edges="4318974.270 210015954 -210015965 -220864519"/>
</vehicle>
<vehicle depart="3.60" departLane="free" departPos="base" departSpeed="random" id="egoVehicle18">
<route edges="220864519 210015965 210015962 210015952"/>
</vehicle>
<vehicle depart="3.80" departLane="free" departPos="base" departSpeed="random" id="19">
<route edges="210015962 210015952"/>
</vehicle>
<vehicle depart="5.00" departLane="free" departPos="base" departSpeed="random" id="25">
<route edges="-210015954"/>
</vehicle>
<vehicle depart="5.80" departLane="free" departPos="base" departSpeed="random" id="29">
<route edges="210015965 -210015954"/>
</vehicle>
<vehicle depart="6.40" departLane="free" departPos="base" departSpeed="random" id="32">
<route edges="210015965 210015962"/>
</vehicle>
<vehicle depart="6.80" departLane="free" departPos="base" departSpeed="random" id="34">
<route edges="-210015965 -220864519"/>
</vehicle>
<vehicle depart="7.00" departLane="free" departPos="base" departSpeed="random" id="35">
<route edges="210015965 210015962 210015952"/>
</vehicle>
<vehicle depart="8.20" departLane="free" departPos="base" departSpeed="random" id="41">
<route edges="210015965 -210015954"/>
</vehicle>
<vehicle depart="8.80" departLane="free" departPos="base" departSpeed="random" id="44">
<route edges="210015962"/>
</vehicle>
<vehicle depart="9.60" departLane="free" departPos="base" departSpeed="random" id="48">
<route edges="4318974.270 210015954 -210015965"/>
</vehicle>
<vehicle depart="10.40" departLane="free" departPos="base" departSpeed="random" id="52">
<route edges="220864519 210015965 -210015954"/>
</vehicle>
<vehicle depart="10.80" departLane="free" departPos="base" departSpeed="random" id="54">
<route edges="-220864519"/>
</vehicle>
<vehicle depart="12.40" departLane="free" departPos="base" departSpeed="random" id="62">
<route edges="-220864519"/>
</vehicle>
<vehicle depart="14.40" departLane="free" departPos="base" departSpeed="random" id="72">
<route edges="4318974.270 210015954 210015962"/>
</vehicle>
<vehicle depart="14.60" departLane="free" departPos="base" departSpeed="random" id="73">
<route edges="210015954 -210015965 -220864519"/>
</vehicle>
<vehicle depart="14.80" departLane="free" departPos="base" departSpeed="random" id="74">
<route edges="-210015962"/>
</vehicle>
<vehicle depart="15.20" departLane="free" departPos="base" departSpeed="random" id="76">
<route edges="220864519 210015965 210015962 210015952"/>
</vehicle>
<vehicle depart="16.00" departLane="free" departPos="base" departSpeed="random" id="80">
<route edges="-210015965"/>
</vehicle>
<vehicle depart="16.60" departLane="free" departPos="base" departSpeed="random" id="83">
<route edges="-210015952.219"/>
</vehicle>
<vehicle depart="17.20" departLane="free" departPos="base" departSpeed="random" id="86">
<route edges="220864519 210015965 -210015954 -4318974"/>
</vehicle>
<vehicle depart="17.40" departLane="free" departPos="base" departSpeed="random" id="87">
<route edges="-210015962 -210015965 -220864519"/>
</vehicle>
</routes>
<?xml version="1.0" ?>
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
<input>
<net-file value="tri_junction.net.xml"/>
<route-files value="tri_junction.rou.xml"/>
<additional-files value=""/>
</input>
<time>
<begin value="0"/>
<step-length value="0.1"/>
</time>
<report>
<verbose value="true"/>
<no-step-log value="true"/>
</report>
<processing>
<time-to-teleport value="-1"/>
<lanechange-output value="output_lanechange.txt"/>
<lanechange.duration value="15"/>
<lanechange.smooth-change value="1"/>
</processing>
</configuration>
This diff is collapsed.
......@@ -160,7 +160,6 @@ class SumoSimulation:
for i in range(self.delta_steps):
# send ego vehicles to SUMO
if not self._dummy_ego_simulation and len(self.ego_vehicles) > 0:
#TODO: merge the functions _send_ego_vehicles and forward_info2sumo and call in correct order
self._send_ego_vehicles(self.ego_vehicles, i)
# execute SUMO simulation step
......@@ -471,7 +470,7 @@ class SumoSimulation:
"""
if self.conf.lane_change_sync == True:
#Check the error between SUMO and CR positions
cons_error = self._consistency_protection(ego_id, current_state) # TODO adjust indices?
cons_error = self._consistency_protection(ego_id, current_state)
if cons_error=='CONSISTENCY_NO_ERROR': #CONSISTENCY_NO_ERROR means error below the configured margin
if self._lc_inaction==0:
if lc_status == 'RIGHT_LC_STARTED':
......