sumo之定义车辆和路由

1.定义车辆

在sumo中进行交通模拟,前面说到了如何通过netedit绘制交通道路。为了让车辆在道路上行走,还需要定义车流。具体的车辆定义可以前往sumo官网查看。这里介绍几种常用的车辆定义和参数。

定义一个能运动的车辆,需要三个方面的参数:车辆的类型;车辆的运动轨迹,即从哪条边运动到哪条边;车辆的运动状态,即速度、加速度等。

下面看一段官网给的车辆定义的代码:

<routes>
    <vType id="type1" accel="0.8" decel="4.5" sigma="0.5" length="5" maxSpeed="70"/>

    <vehicle id="0" type="type1" depart="0" color="1,0,0">
      <route edges="beg middle end rend"/>
    </vehicle>

</routes>

代码中,定义了车辆的类型"type1",加速度0.8,减速度4.5,sigma即跟车类型-表示驾驶员的缺陷,0表示完美驾驶。最大速度70。                                                                                接着定义了id=0的车辆,类型就是"tpye1",进入时间为0,颜色“1,0,0”(即红色)。      然后deges定义了车辆运动的道路,从beg到middle再到end最后从rend离开。

通过上面的代码可以定义出一辆正常行驶的车辆,属性确定而且道路确定。如果想定义另一辆车,只需要copy一份代码,修改参数就行了。

但是如果想定义一辆轨迹一模一样的车呢?sumo给出了方法,看官网给出的第二段代码:

<routes>
    <vType id="type1" accel="0.8" decel="4.5" sigma="0.5" length="5" maxSpeed="70"/>

    <route id="route0" color="1,1,0" edges="beg middle end rend"/>

    <vehicle id="0" type="type1" route="route0" depart="0" color="1,0,0"/>
    <vehicle id="1" type="type1" route="route0" depart="0" color="0,1,0"/>

</routes>

可以借用route属性(在后面介绍)定义车辆轨迹,在今后定义车辆时,直接引用即可。更多的参数可以前往官网查看。

2.定义车流

从前面的方法可以看出,如果需要定义多辆车可以复制相同的代码,但是这种做法有点麻烦。sumo提供了定义车流的方法,即相同的车辆。

官网给出的参数及解释如下:

begin:第一辆车出现的时间                                                                                              end:最后一辆车出现的时间                                                                                      vehsPerHour:每小时出现的车辆数目                                                                          period:在该时间段内插入等距的车辆                                                                               probability:每秒钟出现车辆的概率                                                                            number:车流所包含车流的总数 

看一段官网给出的代码:

<flow id="type1" color="1,1,0"  begin="0" end= "7200" period="900" type="BUS">
    <route edges="beg middle end rend"/>
    <stop busStop="station1" duration="30"/>
</flow>

<route id="route1" edges="beg middle end rend"/>
<flow id="type2" color="1,1,0"  begin="0" end= "7200" period="900" type="BUS" route="route1">
    <stop busStop="station1" duration="30"/>
</flow>

<flow id="type3" color="1,1,0"  begin="0" end= "7200" period="900" type="BUS" from="beg" to="end">    
    <stop busStop="station1" duration="30"/>
</flow>

在代码中定义了三段车流,以"type1为例",开始和结束时间分别是0和7200,车辆类型为公交车,车辆运行的道路是<beg middle end rend>,停靠的公交车站是station1,停靠时间30(有的参数会在今后的文章中进行介绍)

无论是车流部分的定义还是前面重复车流的定义都涉及到了route,实际上是路由参数,还不如理解成用来定义车辆之间共性的参数。route的参数如下:

 

3使用起点和终点定义路由

在前面说到的无论是定义单个车辆还是定义车流,在定义车辆进过的道路时,均一一列举了进过的边,如<beg middle end rend>。但sumo提供了一种只需要定义起点和终点的路由方式,只不过这种方法会根据最短路径选择路由。

看一段官网给出的代码:

<routes>
  <trip id="t" depart="0" from="beg" to="end"/>
  <flow id="f" begin="0" end="100" number="23" from="beg" to="end"/>
  <flow id="f2" begin="0" end="100" number="23" from="beg" to="end" via="e1 e23 e7"/>
</routes>

代码中from和end分别给出了起点和终点

4.简单实例

在实现简单的实例之前,先利用前面文章提到的的方法使用netedit构建一个路网。路网的效果如下图所示:

使用上面的方法定义了车辆和车流,模拟效果如下图所示:

 代码如下:

road_model_1_vehicle.rou.xml:

<routes>
    <vType id="type1" accel="8" decel="4.5" sigma="0.5" length="5" maxSpeed="100"/>
    <vType id="type2" accel="20" decel="4.5" sigma="0.5" length="5" maxSpeed="120"/>
    
    <route id="route0" color="1,1,0" edges="E22 E23 E16 E13 E12 E11 E10 E24 E25 -E21"/>
    <route id="route1" color="1,1,0" edges="-E35 -E33 E11 E10 E14 E15 -E23 -E22"/>
    <route id="route3" color="1,1,1" edges="-E34 -E33 E11 E10 E24 E25 -E21 E23 E16 E13 E12 E33 E34"/>

    <vehicle id="0" type="type1" route="route0" depart="0" color="1,0,0"/>
    <vehicle id="1" type="type2" route="route0" depart="0" color="1,0,0"/>
    <vehicle id="3" type="type1" route="route1" depart="0" color="1,0,0"/>

    <flow id="5" color="0,1,0"  begin="10" end= "40" number="20" route="route3"/>

    <flow id="7" color="0,0,1"  begin="70" end="100" number="20" from="-E35" to="-E18"/>
</routes>

road_mode_1_vehicle.sumocfg:  <注意路网文件和路由文件的命名>

<?xml version="1.0" encoding="UTF-8"?>
 
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.sf.net/xsd/sumoConfiguration.xsd">
 
    <input>
        <net-file value="road_mode_1.net.xml"/>
        <route-files value="road_mode_1_vehicle.rou.xml"/>
    </input>
 
    <time>
        <begin value="0"/>
        <end value="54900"/>
    </time>
 
    <processing>
        <time-to-teleport value="-1"/>
    </processing>
 
</configuration>

road_mode_1.net.xml:(实际是由netedit绘制,也可以直接用代码生成一样的路网文件)

<?xml version="1.0" encoding="UTF-8"?>

<!-- generated on 2021-12-19 16:32:30 by Eclipse SUMO netedit Version 1.11.0
<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">

    <input>
        <sumo-net-file value="D:\sumo\project\road_mode_1.net.xml"/>
    </input>

    <output>
        <output-file value="D:\sumo\project\road_mode_1.net.xml"/>
    </output>

    <processing>
        <geometry.min-radius.fix.railways value="false"/>
        <geometry.max-grade.fix value="false"/>
        <offset.disable-normalization value="true"/>
        <lefthand value="false"/>
    </processing>

    <junctions>
        <no-turnarounds value="true"/>
        <junctions.corner-detail value="5"/>
        <junctions.limit-turn-speed value="5.5"/>
        <rectangular-lane-cut value="false"/>
    </junctions>

    <pedestrian>
        <walkingareas value="false"/>
    </pedestrian>

    <report>
        <aggregate-warnings value="5"/>
    </report>

</configuration>
-->

<net version="1.9" junctionCornerDetail="5" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">

    <location netOffset="0.00,0.00" convBoundary="-400.00,100.00,400.00,500.00" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>

    <edge id=":J10_0" function="internal">
        <lane id=":J10_0_0" index="0" speed="6.51" length="9.03" shape="-4.80,410.40 -5.15,407.95 -6.20,406.20 -7.95,405.15 -10.40,404.80"/>
        <lane id=":J10_0_1" index="1" speed="8.00" length="14.19" shape="-1.60,410.40 -2.15,406.55 -3.80,403.80 -6.55,402.15 -10.40,401.60"/>
    </edge>
    <edge id=":J10_2" function="internal">
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    <connection from=":J13_0" to="E12" fromLane="1" toLane="1" dir="l" state="M"/>
    <connection from=":J14_0" to="E13" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J14_0" to="E13" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J14_2" to="E17" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J14_2" to="E17" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J14_4" to="E13" fromLane="0" toLane="1" via=":J14_5_0" dir="l" state="m"/>
    <connection from=":J14_5" to="E13" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J15_0" to="E15" fromLane="0" toLane="0" dir="l" state="M"/>
    <connection from=":J15_0" to="E15" fromLane="1" toLane="1" dir="l" state="M"/>
    <connection from=":J16_0" to="-E23" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J16_0" to="-E23" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J16_2" to="E16" fromLane="0" toLane="1" via=":J16_5_0" dir="l" state="m"/>
    <connection from=":J16_5" to="E16" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J16_3" to="E16" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J16_3" to="E16" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J17_0" to="E18" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J17_0" to="E18" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J17_2" to="-E17" fromLane="0" toLane="0" dir="l" state="M"/>
    <connection from=":J17_2" to="-E17" fromLane="1" toLane="1" dir="l" state="M"/>
    <connection from=":J18_0" to="-E18" fromLane="0" toLane="0" dir="l" state="M"/>
    <connection from=":J18_0" to="-E18" fromLane="1" toLane="1" dir="l" state="M"/>
    <connection from=":J18_2" to="E20" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J18_2" to="E20" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J20_0" to="-E22" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J20_1" to="-E20" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J20_1" to="-E20" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J20_3" to="E23" fromLane="0" toLane="1" via=":J20_16_0" dir="l" state="m"/>
    <connection from=":J20_16" to="E23" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J20_4" to="E21" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J20_5" to="-E22" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J20_5" to="-E22" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J20_7" to="-E20" fromLane="0" toLane="1" via=":J20_17_0" dir="l" state="m"/>
    <connection from=":J20_17" to="-E20" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J20_8" to="E23" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J20_9" to="E21" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J20_9" to="E21" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J20_11" to="-E22" fromLane="0" toLane="1" via=":J20_18_0" dir="l" state="m"/>
    <connection from=":J20_18" to="-E22" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J20_12" to="-E20" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J20_13" to="E23" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J20_13" to="E23" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J20_15" to="E21" fromLane="0" toLane="1" via=":J20_19_0" dir="l" state="m"/>
    <connection from=":J20_19" to="E21" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J21_0" to="-E21" fromLane="0" toLane="0" dir="l" state="M"/>
    <connection from=":J21_0" to="-E21" fromLane="1" toLane="1" dir="l" state="M"/>
    <connection from=":J21_2" to="-E25" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J21_2" to="-E25" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J23_0" to="E25" fromLane="0" toLane="0" dir="l" state="M"/>
    <connection from=":J23_0" to="E25" fromLane="1" toLane="1" dir="l" state="M"/>
    <connection from=":J23_2" to="-E24" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J23_2" to="-E24" fromLane="1" toLane="1" dir="r" state="M"/>
    <connection from=":J39_0" to="-E33" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J39_1" to="E36" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J39_1" to="E36" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J39_3" to="E34" fromLane="0" toLane="1" via=":J39_16_0" dir="l" state="m"/>
    <connection from=":J39_16" to="E34" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J39_4" to="E35" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J39_5" to="-E33" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J39_5" to="-E33" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J39_7" to="E36" fromLane="0" toLane="1" via=":J39_17_0" dir="l" state="m"/>
    <connection from=":J39_17" to="E36" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J39_8" to="E34" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J39_9" to="E35" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J39_9" to="E35" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J39_11" to="-E33" fromLane="0" toLane="1" via=":J39_18_0" dir="l" state="m"/>
    <connection from=":J39_18" to="-E33" fromLane="0" toLane="1" dir="l" state="M"/>
    <connection from=":J39_12" to="E36" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J39_13" to="E34" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J39_13" to="E34" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J39_15" to="E35" fromLane="0" toLane="1" via=":J39_19_0" dir="l" state="m"/>
    <connection from=":J39_19" to="E35" fromLane="0" toLane="1" dir="l" state="M"/>

</net>

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