sumo之模拟十字路口转弯

最新推荐文章于 2024-08-07 09:38:36 发布

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最新推荐文章于 2024-08-07 09:38:36 发布

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分类专栏： sumo 文章标签：自动驾驶人工智能

本文链接：https://blog.csdn.net/weixin_43797015/article/details/122035583

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在交通模拟中，十字路口是经常需要遇见的基本单元。在模拟车流通过十字路口时，如果使用前面的方法实现，则需要定义三个车流，并向三个不同的方向运动。但是在sumo中，通过jtrrouter命令实现车流在十字路口转弯的模拟。通过提供三个转向的概率进行车流的模拟。具体的内容可以前往官网查看。

定义一个转向的模拟需要定义三个部分：路网、转向各方向的概率、车流。

在下面的实例中使用前面使用过的十字路口，文件名为cross_rode_2.net.xml

(如果使用前面一模一样的道路文件，有的道路无连接，需要做小改动)

1.编写flow文件

利用前面提到的编写车流的方法编写该文件，代码如下，命名为flows.flows.xml：

<flowdefs>
     <flow id="f1" from='E1' begin='0' end='100' number='100'/>
</flowdefs>

代码中定义了从E1道路驶来的车流。

2.编写turn文件

编写转向的车辆，代码如下，命名为：flows_turn.turns.xml：

<turns>

  <interval begin="0" end="3600">
      <edgeRelation from="E1" to="-E2" probability="0.2"/>
      <edgeRelation from="E1" to="-E3" probability="0.7"/>
      <edgeRelation from="E1" to="E0" probability="0.1"/>

   </interval>

</turns>

代码中定义了从E1驶来的车辆转向各个道路的概率，从上往下分别是左转、直行和右转的概率分别是0.2、0.7、0.1。

3.结合flow和turn生成路由文件

在cmd中，将路径切换到存放文件的位置，我的路径是D:/sumo/project。键入如下命令：

jtrrouter --route-files=flows.flows.xml --turn-ratio-files=flows_turn.turns.xml --net-file=cross_road_2.net.xml --output-file=cross_turn.rou.xml --accept-all-destinations=t

最后的--accept-all-destinations=t 是为了接收所有的到达地。如果不加运行会报错。当然，如果在turn文件后加上<sink edges="<EDGE_ID>[ <EDGE_ID>]*"/>表面能出去的边，也可以。

4.结合前面的部分编写.sumocfg文件。

这部分的代码如下：

<configuration>
    <input>
        <net-file value="cross_road_2.net.xml"/>
        <route-files value="cross_trun.rou.xml"/>
    </input>
 
    <time>
        <begin value="0"/>
        <end value="100000"/>
    </time>
</configuration>

注意路网文件和路由文件的文件名，根据实际情况进行修改。

5.仿真结果

在sumo-gui中打开上述.sumocfg文件就能进行仿真。具体的仿真步骤前面的文章已经介绍过。仿真结果如下：

最后附上路网文件的代码。（因为较前面的有所修改）

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

<!-- generated on 2021-12-20 10:54:31 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\cross_road_2.net.xml"/>
    </input>

    <output>
        <output-file value="D:\sumo\project\cross_road_2.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>
-->

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

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    <connection from=":J0_9" to="E0" fromLane="0" toLane="2" via=":J0_20_0" dir="l" state="m"/>
    <connection from=":J0_20" to="E0" fromLane="0" toLane="2" dir="l" state="M"/>
    <connection from=":J0_10" to="-E3" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J0_10" to="-E3" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J0_10" to="-E3" fromLane="2" toLane="2" dir="s" state="M"/>
    <connection from=":J0_13" to="-E1" fromLane="0" toLane="2" via=":J0_21_0" dir="l" state="m"/>
    <connection from=":J0_21" to="-E1" fromLane="0" toLane="2" dir="l" state="M"/>
    <connection from=":J0_14" to="E0" fromLane="0" toLane="0" dir="r" state="M"/>
    <connection from=":J0_15" to="-E2" fromLane="0" toLane="0" dir="s" state="M"/>
    <connection from=":J0_15" to="-E2" fromLane="1" toLane="1" dir="s" state="M"/>
    <connection from=":J0_15" to="-E2" fromLane="2" toLane="2" dir="s" state="M"/>
    <connection from=":J0_18" to="-E3" fromLane="0" toLane="2" via=":J0_22_0" dir="l" state="m"/>
    <connection from=":J0_22" to="-E3" fromLane="0" toLane="2" dir="l" state="M"/>

</net>